{
  "config": {
    "frame_stride": 3,
    "n_frames": 17,
    "clips_per_episode": 15,
    "trans_thresh": 1.0,
    "rot_thresh": 0.01,
    "camera": "camera2",
    "n_episodes": 336,
    "n_clips": 5040
  },
  "clips": [
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66
      ],
      "contact_paths": [
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy"
      ],
      "force_paths": [
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0000",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0001",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318
      ],
      "contact_paths": [
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy"
      ],
      "force_paths": [
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0002",
      "frame_indices": [
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335
      ],
      "contact_paths": [
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy"
      ],
      "force_paths": [
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        9,
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57
      ],
      "contact_paths": [
        "modalities/contact/000009.npy",
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy"
      ],
      "force_paths": [
        "modalities/force/000009.npy",
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0003",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73
      ],
      "contact_paths": [
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy"
      ],
      "force_paths": [
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0004",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316
      ],
      "contact_paths": [
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy"
      ],
      "force_paths": [
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0005",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0006",
      "frame_indices": [
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301
      ],
      "contact_paths": [
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy"
      ],
      "force_paths": [
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0007",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        1,
        4,
        7,
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49
      ],
      "contact_paths": [
        "modalities/contact/000001.npy",
        "modalities/contact/000004.npy",
        "modalities/contact/000007.npy",
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy"
      ],
      "force_paths": [
        "modalities/force/000001.npy",
        "modalities/force/000004.npy",
        "modalities/force/000007.npy",
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66
      ],
      "contact_paths": [
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy"
      ],
      "force_paths": [
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0008",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0009",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66
      ],
      "contact_paths": [
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy"
      ],
      "force_paths": [
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0010",
      "frame_indices": [
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324
      ],
      "contact_paths": [
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy"
      ],
      "force_paths": [
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0011",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316
      ],
      "contact_paths": [
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy"
      ],
      "force_paths": [
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0012",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325
      ],
      "contact_paths": [
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy"
      ],
      "force_paths": [
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0013",
      "frame_indices": [
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344
      ],
      "contact_paths": [
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy"
      ],
      "force_paths": [
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0014",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73
      ],
      "contact_paths": [
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy"
      ],
      "force_paths": [
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0015",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63
      ],
      "contact_paths": [
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy"
      ],
      "force_paths": [
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308
      ],
      "contact_paths": [
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy"
      ],
      "force_paths": [
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0016",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        1,
        4,
        7,
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49
      ],
      "contact_paths": [
        "modalities/contact/000001.npy",
        "modalities/contact/000004.npy",
        "modalities/contact/000007.npy",
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy"
      ],
      "force_paths": [
        "modalities/force/000001.npy",
        "modalities/force/000004.npy",
        "modalities/force/000007.npy",
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328
      ],
      "contact_paths": [
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy"
      ],
      "force_paths": [
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353
      ],
      "contact_paths": [
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy"
      ],
      "force_paths": [
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361,
        364,
        367,
        370,
        373,
        376,
        379
      ],
      "contact_paths": [
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy",
        "modalities/contact/000367.npy",
        "modalities/contact/000370.npy",
        "modalities/contact/000373.npy",
        "modalities/contact/000376.npy",
        "modalities/contact/000379.npy"
      ],
      "force_paths": [
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy",
        "modalities/force/000367.npy",
        "modalities/force/000370.npy",
        "modalities/force/000373.npy",
        "modalities/force/000376.npy",
        "modalities/force/000379.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0017",
      "frame_indices": [
        356,
        359,
        362,
        365,
        368,
        371,
        374,
        377,
        380,
        383,
        386,
        389,
        392,
        395,
        398,
        401,
        404
      ],
      "contact_paths": [
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy",
        "modalities/contact/000371.npy",
        "modalities/contact/000374.npy",
        "modalities/contact/000377.npy",
        "modalities/contact/000380.npy",
        "modalities/contact/000383.npy",
        "modalities/contact/000386.npy",
        "modalities/contact/000389.npy",
        "modalities/contact/000392.npy",
        "modalities/contact/000395.npy",
        "modalities/contact/000398.npy",
        "modalities/contact/000401.npy",
        "modalities/contact/000404.npy"
      ],
      "force_paths": [
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy",
        "modalities/force/000371.npy",
        "modalities/force/000374.npy",
        "modalities/force/000377.npy",
        "modalities/force/000380.npy",
        "modalities/force/000383.npy",
        "modalities/force/000386.npy",
        "modalities/force/000389.npy",
        "modalities/force/000392.npy",
        "modalities/force/000395.npy",
        "modalities/force/000398.npy",
        "modalities/force/000401.npy",
        "modalities/force/000404.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61
      ],
      "contact_paths": [
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy"
      ],
      "force_paths": [
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0018",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0019",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63
      ],
      "contact_paths": [
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy"
      ],
      "force_paths": [
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0020",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0021",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0022",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187
      ],
      "contact_paths": [
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy"
      ],
      "force_paths": [
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0023",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64
      ],
      "contact_paths": [
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy"
      ],
      "force_paths": [
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149
      ],
      "contact_paths": [
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy"
      ],
      "force_paths": [
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0024",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72
      ],
      "contact_paths": [
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy"
      ],
      "force_paths": [
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0025",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0026",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73
      ],
      "contact_paths": [
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy"
      ],
      "force_paths": [
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0027",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65
      ],
      "contact_paths": [
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy"
      ],
      "force_paths": [
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0028",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295
      ],
      "contact_paths": [
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy"
      ],
      "force_paths": [
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0029",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0030",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0031",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276
      ],
      "contact_paths": [
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy"
      ],
      "force_paths": [
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0032",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75
      ],
      "contact_paths": [
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy"
      ],
      "force_paths": [
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319
      ],
      "contact_paths": [
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy"
      ],
      "force_paths": [
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0033",
      "frame_indices": [
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338
      ],
      "contact_paths": [
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy"
      ],
      "force_paths": [
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319
      ],
      "contact_paths": [
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy"
      ],
      "force_paths": [
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338
      ],
      "contact_paths": [
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy"
      ],
      "force_paths": [
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0034",
      "frame_indices": [
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354,
        357
      ],
      "contact_paths": [
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy"
      ],
      "force_paths": [
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0035",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0036",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58
      ],
      "contact_paths": [
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy"
      ],
      "force_paths": [
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0037",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321
      ],
      "contact_paths": [
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy"
      ],
      "force_paths": [
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0038",
      "frame_indices": [
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339
      ],
      "contact_paths": [
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy"
      ],
      "force_paths": [
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67
      ],
      "contact_paths": [
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy"
      ],
      "force_paths": [
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0039",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0040",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67
      ],
      "contact_paths": [
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy"
      ],
      "force_paths": [
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308
      ],
      "contact_paths": [
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy"
      ],
      "force_paths": [
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0041",
      "frame_indices": [
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326
      ],
      "contact_paths": [
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy"
      ],
      "force_paths": [
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276
      ],
      "contact_paths": [
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy"
      ],
      "force_paths": [
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313
      ],
      "contact_paths": [
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy"
      ],
      "force_paths": [
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0042",
      "frame_indices": [
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331
      ],
      "contact_paths": [
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy"
      ],
      "force_paths": [
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        9,
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57
      ],
      "contact_paths": [
        "modalities/contact/000009.npy",
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy"
      ],
      "force_paths": [
        "modalities/force/000009.npy",
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308
      ],
      "contact_paths": [
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy"
      ],
      "force_paths": [
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0043",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0044",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0045",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60
      ],
      "contact_paths": [
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy"
      ],
      "force_paths": [
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187
      ],
      "contact_paths": [
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy"
      ],
      "force_paths": [
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0046",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75
      ],
      "contact_paths": [
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy"
      ],
      "force_paths": [
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0047",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65
      ],
      "contact_paths": [
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy"
      ],
      "force_paths": [
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0048",
      "frame_indices": [
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324
      ],
      "contact_paths": [
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy"
      ],
      "force_paths": [
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0049",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0050",
      "frame_indices": [
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314
      ],
      "contact_paths": [
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy"
      ],
      "force_paths": [
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0057",
      "frame_indices": [
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323
      ],
      "contact_paths": [
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy"
      ],
      "force_paths": [
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0058",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0059",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0060",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339
      ],
      "contact_paths": [
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy"
      ],
      "force_paths": [
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0061",
      "frame_indices": [
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359
      ],
      "contact_paths": [
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy"
      ],
      "force_paths": [
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61
      ],
      "contact_paths": [
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy"
      ],
      "force_paths": [
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291
      ],
      "contact_paths": [
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy"
      ],
      "force_paths": [
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0062",
      "frame_indices": [
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329
      ],
      "contact_paths": [
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy"
      ],
      "force_paths": [
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68
      ],
      "contact_paths": [
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy"
      ],
      "force_paths": [
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0063",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0064",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0065",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0066",
      "frame_indices": [
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326
      ],
      "contact_paths": [
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy"
      ],
      "force_paths": [
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0067",
      "frame_indices": [
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313
      ],
      "contact_paths": [
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy"
      ],
      "force_paths": [
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0068",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0069",
      "frame_indices": [
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329
      ],
      "contact_paths": [
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy"
      ],
      "force_paths": [
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0070",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342
      ],
      "contact_paths": [
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy"
      ],
      "force_paths": [
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0071",
      "frame_indices": [
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362
      ],
      "contact_paths": [
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy"
      ],
      "force_paths": [
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0072",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0073",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0074",
      "frame_indices": [
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326
      ],
      "contact_paths": [
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy"
      ],
      "force_paths": [
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0075",
      "frame_indices": [
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321
      ],
      "contact_paths": [
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy"
      ],
      "force_paths": [
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62
      ],
      "contact_paths": [
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy"
      ],
      "force_paths": [
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0076",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0077",
      "frame_indices": [
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295
      ],
      "contact_paths": [
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy"
      ],
      "force_paths": [
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0078",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0079",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149
      ],
      "contact_paths": [
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy"
      ],
      "force_paths": [
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0080",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0081",
      "frame_indices": [
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317
      ],
      "contact_paths": [
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy"
      ],
      "force_paths": [
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0082",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0083",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0084",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0085",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0086",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60
      ],
      "contact_paths": [
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy"
      ],
      "force_paths": [
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276
      ],
      "contact_paths": [
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy"
      ],
      "force_paths": [
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0087",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0088",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0089",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63
      ],
      "contact_paths": [
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy"
      ],
      "force_paths": [
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0090",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73
      ],
      "contact_paths": [
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy"
      ],
      "force_paths": [
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0091",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199
      ],
      "contact_paths": [
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy"
      ],
      "force_paths": [
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0092",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0093",
      "frame_indices": [
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338
      ],
      "contact_paths": [
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy"
      ],
      "force_paths": [
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0094",
      "frame_indices": [
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329
      ],
      "contact_paths": [
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy"
      ],
      "force_paths": [
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0095",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72
      ],
      "contact_paths": [
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy"
      ],
      "force_paths": [
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0096",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0097",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70
      ],
      "contact_paths": [
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy"
      ],
      "force_paths": [
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0098",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68
      ],
      "contact_paths": [
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy"
      ],
      "force_paths": [
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_left_100/0099",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291
      ],
      "contact_paths": [
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy"
      ],
      "force_paths": [
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311
      ],
      "contact_paths": [
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy"
      ],
      "force_paths": [
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330
      ],
      "contact_paths": [
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy"
      ],
      "force_paths": [
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0000",
      "frame_indices": [
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350
      ],
      "contact_paths": [
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy"
      ],
      "force_paths": [
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331
      ],
      "contact_paths": [
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy"
      ],
      "force_paths": [
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0001",
      "frame_indices": [
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351
      ],
      "contact_paths": [
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy"
      ],
      "force_paths": [
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0002",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315
      ],
      "contact_paths": [
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy"
      ],
      "force_paths": [
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0003",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0004",
      "frame_indices": [
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340
      ],
      "contact_paths": [
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy"
      ],
      "force_paths": [
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0005",
      "frame_indices": [
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321
      ],
      "contact_paths": [
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy"
      ],
      "force_paths": [
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0006",
      "frame_indices": [
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316
      ],
      "contact_paths": [
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy"
      ],
      "force_paths": [
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308
      ],
      "contact_paths": [
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy"
      ],
      "force_paths": [
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328
      ],
      "contact_paths": [
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy"
      ],
      "force_paths": [
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0007",
      "frame_indices": [
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347
      ],
      "contact_paths": [
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy"
      ],
      "force_paths": [
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0008",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70
      ],
      "contact_paths": [
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy"
      ],
      "force_paths": [
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0009",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70
      ],
      "contact_paths": [
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy"
      ],
      "force_paths": [
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245
      ],
      "contact_paths": [
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy"
      ],
      "force_paths": [
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0010",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        4,
        7,
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52
      ],
      "contact_paths": [
        "modalities/contact/000004.npy",
        "modalities/contact/000007.npy",
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy"
      ],
      "force_paths": [
        "modalities/force/000004.npy",
        "modalities/force/000007.npy",
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70
      ],
      "contact_paths": [
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy"
      ],
      "force_paths": [
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199
      ],
      "contact_paths": [
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy"
      ],
      "force_paths": [
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291
      ],
      "contact_paths": [
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy"
      ],
      "force_paths": [
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0011",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316
      ],
      "contact_paths": [
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy"
      ],
      "force_paths": [
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0012",
      "frame_indices": [
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334
      ],
      "contact_paths": [
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy"
      ],
      "force_paths": [
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        2,
        5,
        8,
        11,
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50
      ],
      "contact_paths": [
        "modalities/contact/000002.npy",
        "modalities/contact/000005.npy",
        "modalities/contact/000008.npy",
        "modalities/contact/000011.npy",
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy"
      ],
      "force_paths": [
        "modalities/force/000002.npy",
        "modalities/force/000005.npy",
        "modalities/force/000008.npy",
        "modalities/force/000011.npy",
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68
      ],
      "contact_paths": [
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy"
      ],
      "force_paths": [
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0013",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187
      ],
      "contact_paths": [
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy"
      ],
      "force_paths": [
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245
      ],
      "contact_paths": [
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy"
      ],
      "force_paths": [
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0014",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0015",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0016",
      "frame_indices": [
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329
      ],
      "contact_paths": [
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy"
      ],
      "force_paths": [
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245
      ],
      "contact_paths": [
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy"
      ],
      "force_paths": [
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0017",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0018",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0019",
      "frame_indices": [
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321
      ],
      "contact_paths": [
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy"
      ],
      "force_paths": [
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0020",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199
      ],
      "contact_paths": [
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy"
      ],
      "force_paths": [
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0021",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0022",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64
      ],
      "contact_paths": [
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy"
      ],
      "force_paths": [
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0023",
      "frame_indices": [
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325
      ],
      "contact_paths": [
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy"
      ],
      "force_paths": [
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245
      ],
      "contact_paths": [
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy"
      ],
      "force_paths": [
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315
      ],
      "contact_paths": [
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy"
      ],
      "force_paths": [
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0024",
      "frame_indices": [
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332
      ],
      "contact_paths": [
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy"
      ],
      "force_paths": [
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73
      ],
      "contact_paths": [
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy"
      ],
      "force_paths": [
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199
      ],
      "contact_paths": [
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy"
      ],
      "force_paths": [
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0025",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301
      ],
      "contact_paths": [
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy"
      ],
      "force_paths": [
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319
      ],
      "contact_paths": [
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy"
      ],
      "force_paths": [
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0026",
      "frame_indices": [
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337
      ],
      "contact_paths": [
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy"
      ],
      "force_paths": [
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71
      ],
      "contact_paths": [
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy"
      ],
      "force_paths": [
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0027",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0028",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0029",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        1,
        4,
        7,
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49
      ],
      "contact_paths": [
        "modalities/contact/000001.npy",
        "modalities/contact/000004.npy",
        "modalities/contact/000007.npy",
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy"
      ],
      "force_paths": [
        "modalities/force/000001.npy",
        "modalities/force/000004.npy",
        "modalities/force/000007.npy",
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62
      ],
      "contact_paths": [
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy"
      ],
      "force_paths": [
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75
      ],
      "contact_paths": [
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy"
      ],
      "force_paths": [
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0030",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0031",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0032",
      "frame_indices": [
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319
      ],
      "contact_paths": [
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy"
      ],
      "force_paths": [
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67
      ],
      "contact_paths": [
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy"
      ],
      "force_paths": [
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0033",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187
      ],
      "contact_paths": [
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy"
      ],
      "force_paths": [
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0034",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0035",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323
      ],
      "contact_paths": [
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy"
      ],
      "force_paths": [
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0036",
      "frame_indices": [
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341
      ],
      "contact_paths": [
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy"
      ],
      "force_paths": [
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0037",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0038",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0039",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0040",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0041",
      "frame_indices": [
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315
      ],
      "contact_paths": [
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy"
      ],
      "force_paths": [
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63
      ],
      "contact_paths": [
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy"
      ],
      "force_paths": [
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0042",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62
      ],
      "contact_paths": [
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy"
      ],
      "force_paths": [
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0043",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0044",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0045",
      "frame_indices": [
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295
      ],
      "contact_paths": [
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy"
      ],
      "force_paths": [
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71
      ],
      "contact_paths": [
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy"
      ],
      "force_paths": [
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0046",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        11,
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59
      ],
      "contact_paths": [
        "modalities/contact/000011.npy",
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy"
      ],
      "force_paths": [
        "modalities/force/000011.npy",
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0047",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66
      ],
      "contact_paths": [
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy"
      ],
      "force_paths": [
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0048",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0049",
      "frame_indices": [
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276
      ],
      "contact_paths": [
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy"
      ],
      "force_paths": [
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311
      ],
      "contact_paths": [
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy"
      ],
      "force_paths": [
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331
      ],
      "contact_paths": [
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy"
      ],
      "force_paths": [
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0050",
      "frame_indices": [
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350
      ],
      "contact_paths": [
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy"
      ],
      "force_paths": [
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0051",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        4,
        7,
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52
      ],
      "contact_paths": [
        "modalities/contact/000004.npy",
        "modalities/contact/000007.npy",
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy"
      ],
      "force_paths": [
        "modalities/force/000004.npy",
        "modalities/force/000007.npy",
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67
      ],
      "contact_paths": [
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy"
      ],
      "force_paths": [
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0052",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        6,
        9,
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54
      ],
      "contact_paths": [
        "modalities/contact/000006.npy",
        "modalities/contact/000009.npy",
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy"
      ],
      "force_paths": [
        "modalities/force/000006.npy",
        "modalities/force/000009.npy",
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70
      ],
      "contact_paths": [
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy"
      ],
      "force_paths": [
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199
      ],
      "contact_paths": [
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy"
      ],
      "force_paths": [
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0053",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149
      ],
      "contact_paths": [
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy"
      ],
      "force_paths": [
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0054",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0055",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0056",
      "frame_indices": [
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321
      ],
      "contact_paths": [
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy"
      ],
      "force_paths": [
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311
      ],
      "contact_paths": [
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy"
      ],
      "force_paths": [
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330
      ],
      "contact_paths": [
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy"
      ],
      "force_paths": [
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0057",
      "frame_indices": [
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349
      ],
      "contact_paths": [
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy"
      ],
      "force_paths": [
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60
      ],
      "contact_paths": [
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy"
      ],
      "force_paths": [
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0058",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0059",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319
      ],
      "contact_paths": [
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy"
      ],
      "force_paths": [
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338
      ],
      "contact_paths": [
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy"
      ],
      "force_paths": [
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0060",
      "frame_indices": [
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358
      ],
      "contact_paths": [
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy"
      ],
      "force_paths": [
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0061",
      "frame_indices": [
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315
      ],
      "contact_paths": [
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy"
      ],
      "force_paths": [
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0062",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70
      ],
      "contact_paths": [
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy"
      ],
      "force_paths": [
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0063",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75
      ],
      "contact_paths": [
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy"
      ],
      "force_paths": [
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0064",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71
      ],
      "contact_paths": [
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy"
      ],
      "force_paths": [
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0065",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0066",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70
      ],
      "contact_paths": [
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy"
      ],
      "force_paths": [
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0067",
      "frame_indices": [
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276
      ],
      "contact_paths": [
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy"
      ],
      "force_paths": [
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73
      ],
      "contact_paths": [
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy"
      ],
      "force_paths": [
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0068",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        11,
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59
      ],
      "contact_paths": [
        "modalities/contact/000011.npy",
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy"
      ],
      "force_paths": [
        "modalities/force/000011.npy",
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75
      ],
      "contact_paths": [
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy"
      ],
      "force_paths": [
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0069",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0070",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0071",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73
      ],
      "contact_paths": [
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy"
      ],
      "force_paths": [
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187
      ],
      "contact_paths": [
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy"
      ],
      "force_paths": [
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0072",
      "frame_indices": [
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301
      ],
      "contact_paths": [
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy"
      ],
      "force_paths": [
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314
      ],
      "contact_paths": [
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy"
      ],
      "force_paths": [
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0073",
      "frame_indices": [
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332
      ],
      "contact_paths": [
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy"
      ],
      "force_paths": [
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276
      ],
      "contact_paths": [
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy"
      ],
      "force_paths": [
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0074",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58
      ],
      "contact_paths": [
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy"
      ],
      "force_paths": [
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245
      ],
      "contact_paths": [
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy"
      ],
      "force_paths": [
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0075",
      "frame_indices": [
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276
      ],
      "contact_paths": [
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy"
      ],
      "force_paths": [
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0076",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0077",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0078",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        7,
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55
      ],
      "contact_paths": [
        "modalities/contact/000007.npy",
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy"
      ],
      "force_paths": [
        "modalities/force/000007.npy",
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0079",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73
      ],
      "contact_paths": [
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy"
      ],
      "force_paths": [
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149
      ],
      "contact_paths": [
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy"
      ],
      "force_paths": [
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0080",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245
      ],
      "contact_paths": [
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy"
      ],
      "force_paths": [
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0081",
      "frame_indices": [
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339
      ],
      "contact_paths": [
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy"
      ],
      "force_paths": [
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63
      ],
      "contact_paths": [
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy"
      ],
      "force_paths": [
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149
      ],
      "contact_paths": [
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy"
      ],
      "force_paths": [
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0082",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        3,
        6,
        9,
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51
      ],
      "contact_paths": [
        "modalities/contact/000003.npy",
        "modalities/contact/000006.npy",
        "modalities/contact/000009.npy",
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy"
      ],
      "force_paths": [
        "modalities/force/000003.npy",
        "modalities/force/000006.npy",
        "modalities/force/000009.npy",
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0083",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58
      ],
      "contact_paths": [
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy"
      ],
      "force_paths": [
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187
      ],
      "contact_paths": [
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy"
      ],
      "force_paths": [
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0084",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        11,
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59
      ],
      "contact_paths": [
        "modalities/contact/000011.npy",
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy"
      ],
      "force_paths": [
        "modalities/force/000011.npy",
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0085",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "switch_box/grasping_gello_flip_the_switch_box_open_to_the_right_100/0086",
      "frame_indices": [
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315
      ],
      "contact_paths": [
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy"
      ],
      "force_paths": [
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325
      ],
      "contact_paths": [
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy"
      ],
      "force_paths": [
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_left_100/0000",
      "frame_indices": [
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344
      ],
      "contact_paths": [
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy"
      ],
      "force_paths": [
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0000",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313
      ],
      "contact_paths": [
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy"
      ],
      "force_paths": [
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0001",
      "frame_indices": [
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352
      ],
      "contact_paths": [
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy"
      ],
      "force_paths": [
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71
      ],
      "contact_paths": [
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy"
      ],
      "force_paths": [
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332
      ],
      "contact_paths": [
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy"
      ],
      "force_paths": [
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0002",
      "frame_indices": [
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352
      ],
      "contact_paths": [
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy"
      ],
      "force_paths": [
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328
      ],
      "contact_paths": [
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy"
      ],
      "force_paths": [
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348
      ],
      "contact_paths": [
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy"
      ],
      "force_paths": [
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0003",
      "frame_indices": [
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361,
        364,
        367
      ],
      "contact_paths": [
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy",
        "modalities/contact/000367.npy"
      ],
      "force_paths": [
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy",
        "modalities/force/000367.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199
      ],
      "contact_paths": [
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy"
      ],
      "force_paths": [
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332
      ],
      "contact_paths": [
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy"
      ],
      "force_paths": [
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354
      ],
      "contact_paths": [
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy"
      ],
      "force_paths": [
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361,
        364,
        367,
        370,
        373,
        376
      ],
      "contact_paths": [
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy",
        "modalities/contact/000367.npy",
        "modalities/contact/000370.npy",
        "modalities/contact/000373.npy",
        "modalities/contact/000376.npy"
      ],
      "force_paths": [
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy",
        "modalities/force/000367.npy",
        "modalities/force/000370.npy",
        "modalities/force/000373.npy",
        "modalities/force/000376.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0004",
      "frame_indices": [
        350,
        353,
        356,
        359,
        362,
        365,
        368,
        371,
        374,
        377,
        380,
        383,
        386,
        389,
        392,
        395,
        398
      ],
      "contact_paths": [
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy",
        "modalities/contact/000371.npy",
        "modalities/contact/000374.npy",
        "modalities/contact/000377.npy",
        "modalities/contact/000380.npy",
        "modalities/contact/000383.npy",
        "modalities/contact/000386.npy",
        "modalities/contact/000389.npy",
        "modalities/contact/000392.npy",
        "modalities/contact/000395.npy",
        "modalities/contact/000398.npy"
      ],
      "force_paths": [
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy",
        "modalities/force/000371.npy",
        "modalities/force/000374.npy",
        "modalities/force/000377.npy",
        "modalities/force/000380.npy",
        "modalities/force/000383.npy",
        "modalities/force/000386.npy",
        "modalities/force/000389.npy",
        "modalities/force/000392.npy",
        "modalities/force/000395.npy",
        "modalities/force/000398.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323
      ],
      "contact_paths": [
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy"
      ],
      "force_paths": [
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0005",
      "frame_indices": [
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342
      ],
      "contact_paths": [
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy"
      ],
      "force_paths": [
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62
      ],
      "contact_paths": [
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy"
      ],
      "force_paths": [
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308
      ],
      "contact_paths": [
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy"
      ],
      "force_paths": [
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0006",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60
      ],
      "contact_paths": [
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy"
      ],
      "force_paths": [
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316
      ],
      "contact_paths": [
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy"
      ],
      "force_paths": [
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0007",
      "frame_indices": [
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336
      ],
      "contact_paths": [
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy"
      ],
      "force_paths": [
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332
      ],
      "contact_paths": [
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy"
      ],
      "force_paths": [
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354
      ],
      "contact_paths": [
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy"
      ],
      "force_paths": [
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0008",
      "frame_indices": [
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361,
        364,
        367,
        370,
        373,
        376
      ],
      "contact_paths": [
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy",
        "modalities/contact/000367.npy",
        "modalities/contact/000370.npy",
        "modalities/contact/000373.npy",
        "modalities/contact/000376.npy"
      ],
      "force_paths": [
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy",
        "modalities/force/000367.npy",
        "modalities/force/000370.npy",
        "modalities/force/000373.npy",
        "modalities/force/000376.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0009",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0010",
      "frame_indices": [
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324
      ],
      "contact_paths": [
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy"
      ],
      "force_paths": [
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319
      ],
      "contact_paths": [
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy"
      ],
      "force_paths": [
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341
      ],
      "contact_paths": [
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy"
      ],
      "force_paths": [
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362
      ],
      "contact_paths": [
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy"
      ],
      "force_paths": [
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0011",
      "frame_indices": [
        336,
        339,
        342,
        345,
        348,
        351,
        354,
        357,
        360,
        363,
        366,
        369,
        372,
        375,
        378,
        381,
        384
      ],
      "contact_paths": [
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy",
        "modalities/contact/000360.npy",
        "modalities/contact/000363.npy",
        "modalities/contact/000366.npy",
        "modalities/contact/000369.npy",
        "modalities/contact/000372.npy",
        "modalities/contact/000375.npy",
        "modalities/contact/000378.npy",
        "modalities/contact/000381.npy",
        "modalities/contact/000384.npy"
      ],
      "force_paths": [
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy",
        "modalities/force/000360.npy",
        "modalities/force/000363.npy",
        "modalities/force/000366.npy",
        "modalities/force/000369.npy",
        "modalities/force/000372.npy",
        "modalities/force/000375.npy",
        "modalities/force/000378.npy",
        "modalities/force/000381.npy",
        "modalities/force/000384.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341
      ],
      "contact_paths": [
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy"
      ],
      "force_paths": [
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0012",
      "frame_indices": [
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354,
        357,
        360
      ],
      "contact_paths": [
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy",
        "modalities/contact/000360.npy"
      ],
      "force_paths": [
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy",
        "modalities/force/000360.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324
      ],
      "contact_paths": [
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy"
      ],
      "force_paths": [
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0013",
      "frame_indices": [
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342
      ],
      "contact_paths": [
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy"
      ],
      "force_paths": [
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323
      ],
      "contact_paths": [
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy"
      ],
      "force_paths": [
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344
      ],
      "contact_paths": [
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy"
      ],
      "force_paths": [
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0015",
      "frame_indices": [
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361,
        364
      ],
      "contact_paths": [
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy"
      ],
      "force_paths": [
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65
      ],
      "contact_paths": [
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy"
      ],
      "force_paths": [
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0018",
      "frame_indices": [
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321
      ],
      "contact_paths": [
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy"
      ],
      "force_paths": [
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319
      ],
      "contact_paths": [
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy"
      ],
      "force_paths": [
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339
      ],
      "contact_paths": [
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy"
      ],
      "force_paths": [
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0019",
      "frame_indices": [
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358
      ],
      "contact_paths": [
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy"
      ],
      "force_paths": [
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301
      ],
      "contact_paths": [
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy"
      ],
      "force_paths": [
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319
      ],
      "contact_paths": [
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy"
      ],
      "force_paths": [
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0021",
      "frame_indices": [
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337
      ],
      "contact_paths": [
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy"
      ],
      "force_paths": [
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187
      ],
      "contact_paths": [
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy"
      ],
      "force_paths": [
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0022",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65
      ],
      "contact_paths": [
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy"
      ],
      "force_paths": [
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291
      ],
      "contact_paths": [
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy"
      ],
      "force_paths": [
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0023",
      "frame_indices": [
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329
      ],
      "contact_paths": [
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy"
      ],
      "force_paths": [
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295
      ],
      "contact_paths": [
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy"
      ],
      "force_paths": [
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313
      ],
      "contact_paths": [
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy"
      ],
      "force_paths": [
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0024",
      "frame_indices": [
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331
      ],
      "contact_paths": [
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy"
      ],
      "force_paths": [
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245
      ],
      "contact_paths": [
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy"
      ],
      "force_paths": [
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321
      ],
      "contact_paths": [
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy"
      ],
      "force_paths": [
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0028",
      "frame_indices": [
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340
      ],
      "contact_paths": [
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy"
      ],
      "force_paths": [
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324
      ],
      "contact_paths": [
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy"
      ],
      "force_paths": [
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344
      ],
      "contact_paths": [
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy"
      ],
      "force_paths": [
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0029",
      "frame_indices": [
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361,
        364
      ],
      "contact_paths": [
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy"
      ],
      "force_paths": [
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199
      ],
      "contact_paths": [
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy"
      ],
      "force_paths": [
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330
      ],
      "contact_paths": [
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy"
      ],
      "force_paths": [
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0030",
      "frame_indices": [
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349
      ],
      "contact_paths": [
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy"
      ],
      "force_paths": [
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291
      ],
      "contact_paths": [
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy"
      ],
      "force_paths": [
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354
      ],
      "contact_paths": [
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy"
      ],
      "force_paths": [
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0031",
      "frame_indices": [
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354,
        357,
        360,
        363,
        366,
        369,
        372,
        375
      ],
      "contact_paths": [
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy",
        "modalities/contact/000360.npy",
        "modalities/contact/000363.npy",
        "modalities/contact/000366.npy",
        "modalities/contact/000369.npy",
        "modalities/contact/000372.npy",
        "modalities/contact/000375.npy"
      ],
      "force_paths": [
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy",
        "modalities/force/000360.npy",
        "modalities/force/000363.npy",
        "modalities/force/000366.npy",
        "modalities/force/000369.npy",
        "modalities/force/000372.npy",
        "modalities/force/000375.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326
      ],
      "contact_paths": [
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy"
      ],
      "force_paths": [
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0032",
      "frame_indices": [
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344
      ],
      "contact_paths": [
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy"
      ],
      "force_paths": [
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316
      ],
      "contact_paths": [
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy"
      ],
      "force_paths": [
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336
      ],
      "contact_paths": [
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy"
      ],
      "force_paths": [
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0033",
      "frame_indices": [
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356
      ],
      "contact_paths": [
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy"
      ],
      "force_paths": [
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65
      ],
      "contact_paths": [
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy"
      ],
      "force_paths": [
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301
      ],
      "contact_paths": [
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy"
      ],
      "force_paths": [
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0034",
      "frame_indices": [
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340
      ],
      "contact_paths": [
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy"
      ],
      "force_paths": [
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315
      ],
      "contact_paths": [
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy"
      ],
      "force_paths": [
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335
      ],
      "contact_paths": [
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy"
      ],
      "force_paths": [
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356
      ],
      "contact_paths": [
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy"
      ],
      "force_paths": [
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0035",
      "frame_indices": [
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361,
        364,
        367,
        370,
        373,
        376
      ],
      "contact_paths": [
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy",
        "modalities/contact/000367.npy",
        "modalities/contact/000370.npy",
        "modalities/contact/000373.npy",
        "modalities/contact/000376.npy"
      ],
      "force_paths": [
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy",
        "modalities/force/000367.npy",
        "modalities/force/000370.npy",
        "modalities/force/000373.npy",
        "modalities/force/000376.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65
      ],
      "contact_paths": [
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy"
      ],
      "force_paths": [
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0036",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0037",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348
      ],
      "contact_paths": [
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy"
      ],
      "force_paths": [
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0038",
      "frame_indices": [
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362,
        365,
        368
      ],
      "contact_paths": [
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy"
      ],
      "force_paths": [
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0039",
      "frame_indices": [
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324
      ],
      "contact_paths": [
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy"
      ],
      "force_paths": [
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346
      ],
      "contact_paths": [
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy"
      ],
      "force_paths": [
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0040",
      "frame_indices": [
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362,
        365
      ],
      "contact_paths": [
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy"
      ],
      "force_paths": [
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308
      ],
      "contact_paths": [
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy"
      ],
      "force_paths": [
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326
      ],
      "contact_paths": [
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy"
      ],
      "force_paths": [
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0042",
      "frame_indices": [
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345
      ],
      "contact_paths": [
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy"
      ],
      "force_paths": [
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323
      ],
      "contact_paths": [
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy"
      ],
      "force_paths": [
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0043",
      "frame_indices": [
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341
      ],
      "contact_paths": [
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy"
      ],
      "force_paths": [
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314
      ],
      "contact_paths": [
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy"
      ],
      "force_paths": [
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0044",
      "frame_indices": [
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353
      ],
      "contact_paths": [
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy"
      ],
      "force_paths": [
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301
      ],
      "contact_paths": [
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy"
      ],
      "force_paths": [
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318
      ],
      "contact_paths": [
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy"
      ],
      "force_paths": [
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0048",
      "frame_indices": [
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335
      ],
      "contact_paths": [
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy"
      ],
      "force_paths": [
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348
      ],
      "contact_paths": [
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy"
      ],
      "force_paths": [
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354,
        357,
        360,
        363,
        366,
        369
      ],
      "contact_paths": [
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy",
        "modalities/contact/000360.npy",
        "modalities/contact/000363.npy",
        "modalities/contact/000366.npy",
        "modalities/contact/000369.npy"
      ],
      "force_paths": [
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy",
        "modalities/force/000360.npy",
        "modalities/force/000363.npy",
        "modalities/force/000366.npy",
        "modalities/force/000369.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0049",
      "frame_indices": [
        342,
        345,
        348,
        351,
        354,
        357,
        360,
        363,
        366,
        369,
        372,
        375,
        378,
        381,
        384,
        387,
        390
      ],
      "contact_paths": [
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy",
        "modalities/contact/000360.npy",
        "modalities/contact/000363.npy",
        "modalities/contact/000366.npy",
        "modalities/contact/000369.npy",
        "modalities/contact/000372.npy",
        "modalities/contact/000375.npy",
        "modalities/contact/000378.npy",
        "modalities/contact/000381.npy",
        "modalities/contact/000384.npy",
        "modalities/contact/000387.npy",
        "modalities/contact/000390.npy"
      ],
      "force_paths": [
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy",
        "modalities/force/000360.npy",
        "modalities/force/000363.npy",
        "modalities/force/000366.npy",
        "modalities/force/000369.npy",
        "modalities/force/000372.npy",
        "modalities/force/000375.npy",
        "modalities/force/000378.npy",
        "modalities/force/000381.npy",
        "modalities/force/000384.npy",
        "modalities/force/000387.npy",
        "modalities/force/000390.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325
      ],
      "contact_paths": [
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy"
      ],
      "force_paths": [
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0050",
      "frame_indices": [
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344
      ],
      "contact_paths": [
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy"
      ],
      "force_paths": [
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328
      ],
      "contact_paths": [
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy"
      ],
      "force_paths": [
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0061",
      "frame_indices": [
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346
      ],
      "contact_paths": [
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy"
      ],
      "force_paths": [
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0062",
      "frame_indices": [
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317
      ],
      "contact_paths": [
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy"
      ],
      "force_paths": [
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0063",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313
      ],
      "contact_paths": [
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy"
      ],
      "force_paths": [
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0064",
      "frame_indices": [
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330
      ],
      "contact_paths": [
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy"
      ],
      "force_paths": [
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        9,
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57
      ],
      "contact_paths": [
        "modalities/contact/000009.npy",
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy"
      ],
      "force_paths": [
        "modalities/force/000009.npy",
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330
      ],
      "contact_paths": [
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy"
      ],
      "force_paths": [
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0065",
      "frame_indices": [
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351
      ],
      "contact_paths": [
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy"
      ],
      "force_paths": [
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73
      ],
      "contact_paths": [
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy"
      ],
      "force_paths": [
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0066",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187
      ],
      "contact_paths": [
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy"
      ],
      "force_paths": [
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0067",
      "frame_indices": [
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324
      ],
      "contact_paths": [
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy"
      ],
      "force_paths": [
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68
      ],
      "contact_paths": [
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy"
      ],
      "force_paths": [
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0068",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291
      ],
      "contact_paths": [
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy"
      ],
      "force_paths": [
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308
      ],
      "contact_paths": [
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy"
      ],
      "force_paths": [
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0069",
      "frame_indices": [
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326
      ],
      "contact_paths": [
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy"
      ],
      "force_paths": [
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149
      ],
      "contact_paths": [
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy"
      ],
      "force_paths": [
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0070",
      "frame_indices": [
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325
      ],
      "contact_paths": [
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy"
      ],
      "force_paths": [
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0071",
      "frame_indices": [
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314
      ],
      "contact_paths": [
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy"
      ],
      "force_paths": [
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61
      ],
      "contact_paths": [
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy"
      ],
      "force_paths": [
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0072",
      "frame_indices": [
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331
      ],
      "contact_paths": [
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy"
      ],
      "force_paths": [
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323
      ],
      "contact_paths": [
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy"
      ],
      "force_paths": [
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342
      ],
      "contact_paths": [
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy"
      ],
      "force_paths": [
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0073",
      "frame_indices": [
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362
      ],
      "contact_paths": [
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy"
      ],
      "force_paths": [
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199
      ],
      "contact_paths": [
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy"
      ],
      "force_paths": [
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317
      ],
      "contact_paths": [
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy"
      ],
      "force_paths": [
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337
      ],
      "contact_paths": [
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy"
      ],
      "force_paths": [
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy"
      ]
    },
    {
      "episode": "yellow_basket/grasping_gello_lift_the_yellow_basket_decorated_with_a_bear_motif_to_the_right_100/0074",
      "frame_indices": [
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354,
        357
      ],
      "contact_paths": [
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy"
      ],
      "force_paths": [
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75
      ],
      "contact_paths": [
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy"
      ],
      "force_paths": [
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0000",
      "frame_indices": [
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311
      ],
      "contact_paths": [
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy"
      ],
      "force_paths": [
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72
      ],
      "contact_paths": [
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy"
      ],
      "force_paths": [
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291
      ],
      "contact_paths": [
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy"
      ],
      "force_paths": [
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0001",
      "frame_indices": [
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328
      ],
      "contact_paths": [
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy"
      ],
      "force_paths": [
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0002",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62
      ],
      "contact_paths": [
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy"
      ],
      "force_paths": [
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0003",
      "frame_indices": [
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317
      ],
      "contact_paths": [
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy"
      ],
      "force_paths": [
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313
      ],
      "contact_paths": [
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy"
      ],
      "force_paths": [
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332
      ],
      "contact_paths": [
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy"
      ],
      "force_paths": [
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0004",
      "frame_indices": [
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351
      ],
      "contact_paths": [
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy"
      ],
      "force_paths": [
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0005",
      "frame_indices": [
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314
      ],
      "contact_paths": [
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy"
      ],
      "force_paths": [
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0006",
      "frame_indices": [
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330
      ],
      "contact_paths": [
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy"
      ],
      "force_paths": [
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141
      ],
      "contact_paths": [
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy"
      ],
      "force_paths": [
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0007",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0008",
      "frame_indices": [
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314
      ],
      "contact_paths": [
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy"
      ],
      "force_paths": [
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149
      ],
      "contact_paths": [
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy"
      ],
      "force_paths": [
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0009",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        6,
        9,
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54
      ],
      "contact_paths": [
        "modalities/contact/000006.npy",
        "modalities/contact/000009.npy",
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy"
      ],
      "force_paths": [
        "modalities/force/000006.npy",
        "modalities/force/000009.npy",
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0010",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0011",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67
      ],
      "contact_paths": [
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy"
      ],
      "force_paths": [
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0012",
      "frame_indices": [
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291
      ],
      "contact_paths": [
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy"
      ],
      "force_paths": [
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0013",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72
      ],
      "contact_paths": [
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy"
      ],
      "force_paths": [
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0014",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347
      ],
      "contact_paths": [
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy"
      ],
      "force_paths": [
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0015",
      "frame_indices": [
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361,
        364,
        367
      ],
      "contact_paths": [
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy",
        "modalities/contact/000367.npy"
      ],
      "force_paths": [
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy",
        "modalities/force/000367.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72
      ],
      "contact_paths": [
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy"
      ],
      "force_paths": [
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328
      ],
      "contact_paths": [
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy"
      ],
      "force_paths": [
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350
      ],
      "contact_paths": [
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy"
      ],
      "force_paths": [
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0016",
      "frame_indices": [
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362,
        365,
        368,
        371
      ],
      "contact_paths": [
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy",
        "modalities/contact/000371.npy"
      ],
      "force_paths": [
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy",
        "modalities/force/000371.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66
      ],
      "contact_paths": [
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy"
      ],
      "force_paths": [
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341
      ],
      "contact_paths": [
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy"
      ],
      "force_paths": [
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0017",
      "frame_indices": [
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362
      ],
      "contact_paths": [
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy"
      ],
      "force_paths": [
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0018",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0019",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        7,
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55
      ],
      "contact_paths": [
        "modalities/contact/000007.npy",
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy"
      ],
      "force_paths": [
        "modalities/force/000007.npy",
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71
      ],
      "contact_paths": [
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy"
      ],
      "force_paths": [
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0020",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0021",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        11,
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59
      ],
      "contact_paths": [
        "modalities/contact/000011.npy",
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy"
      ],
      "force_paths": [
        "modalities/force/000011.npy",
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295
      ],
      "contact_paths": [
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy"
      ],
      "force_paths": [
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0022",
      "frame_indices": [
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313
      ],
      "contact_paths": [
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy"
      ],
      "force_paths": [
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62
      ],
      "contact_paths": [
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy"
      ],
      "force_paths": [
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311
      ],
      "contact_paths": [
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy"
      ],
      "force_paths": [
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0023",
      "frame_indices": [
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330
      ],
      "contact_paths": [
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy"
      ],
      "force_paths": [
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149
      ],
      "contact_paths": [
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy"
      ],
      "force_paths": [
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319
      ],
      "contact_paths": [
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy"
      ],
      "force_paths": [
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340
      ],
      "contact_paths": [
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy"
      ],
      "force_paths": [
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362
      ],
      "contact_paths": [
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy"
      ],
      "force_paths": [
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0024",
      "frame_indices": [
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362,
        365,
        368,
        371,
        374,
        377,
        380,
        383
      ],
      "contact_paths": [
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy",
        "modalities/contact/000371.npy",
        "modalities/contact/000374.npy",
        "modalities/contact/000377.npy",
        "modalities/contact/000380.npy",
        "modalities/contact/000383.npy"
      ],
      "force_paths": [
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy",
        "modalities/force/000371.npy",
        "modalities/force/000374.npy",
        "modalities/force/000377.npy",
        "modalities/force/000380.npy",
        "modalities/force/000383.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330
      ],
      "contact_paths": [
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy"
      ],
      "force_paths": [
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350
      ],
      "contact_paths": [
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy"
      ],
      "force_paths": [
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0025",
      "frame_indices": [
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362,
        365,
        368,
        371
      ],
      "contact_paths": [
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy",
        "modalities/contact/000371.npy"
      ],
      "force_paths": [
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy",
        "modalities/force/000371.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67
      ],
      "contact_paths": [
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy"
      ],
      "force_paths": [
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0026",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219
      ],
      "contact_paths": [
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy"
      ],
      "force_paths": [
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0027",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        11,
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59
      ],
      "contact_paths": [
        "modalities/contact/000011.npy",
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy"
      ],
      "force_paths": [
        "modalities/force/000011.npy",
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0028",
      "frame_indices": [
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328
      ],
      "contact_paths": [
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy"
      ],
      "force_paths": [
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0029",
      "frame_indices": [
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338
      ],
      "contact_paths": [
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy"
      ],
      "force_paths": [
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245
      ],
      "contact_paths": [
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy"
      ],
      "force_paths": [
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0030",
      "frame_indices": [
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311
      ],
      "contact_paths": [
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy"
      ],
      "force_paths": [
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0031",
      "frame_indices": [
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315
      ],
      "contact_paths": [
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy"
      ],
      "force_paths": [
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159
      ],
      "contact_paths": [
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy"
      ],
      "force_paths": [
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0032",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0033",
      "frame_indices": [
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314
      ],
      "contact_paths": [
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy"
      ],
      "force_paths": [
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276
      ],
      "contact_paths": [
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy"
      ],
      "force_paths": [
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311
      ],
      "contact_paths": [
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy"
      ],
      "force_paths": [
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0034",
      "frame_indices": [
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328
      ],
      "contact_paths": [
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy"
      ],
      "force_paths": [
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73
      ],
      "contact_paths": [
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy"
      ],
      "force_paths": [
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199
      ],
      "contact_paths": [
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy"
      ],
      "force_paths": [
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0035",
      "frame_indices": [
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293
      ],
      "contact_paths": [
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy"
      ],
      "force_paths": [
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67
      ],
      "contact_paths": [
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy"
      ],
      "force_paths": [
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0036",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0037",
      "frame_indices": [
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321
      ],
      "contact_paths": [
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy"
      ],
      "force_paths": [
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243
      ],
      "contact_paths": [
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy"
      ],
      "force_paths": [
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313
      ],
      "contact_paths": [
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy"
      ],
      "force_paths": [
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0038",
      "frame_indices": [
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331
      ],
      "contact_paths": [
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy"
      ],
      "force_paths": [
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0039",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66
      ],
      "contact_paths": [
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy"
      ],
      "force_paths": [
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200
      ],
      "contact_paths": [
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy"
      ],
      "force_paths": [
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217
      ],
      "contact_paths": [
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy"
      ],
      "force_paths": [
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0040",
      "frame_indices": [
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301
      ],
      "contact_paths": [
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy"
      ],
      "force_paths": [
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92
      ],
      "contact_paths": [
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy"
      ],
      "force_paths": [
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199
      ],
      "contact_paths": [
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy"
      ],
      "force_paths": [
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305
      ],
      "contact_paths": [
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy"
      ],
      "force_paths": [
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323
      ],
      "contact_paths": [
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy"
      ],
      "force_paths": [
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0041",
      "frame_indices": [
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341
      ],
      "contact_paths": [
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy"
      ],
      "force_paths": [
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232
      ],
      "contact_paths": [
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy"
      ],
      "force_paths": [
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308
      ],
      "contact_paths": [
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy"
      ],
      "force_paths": [
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0042",
      "frame_indices": [
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346
      ],
      "contact_paths": [
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy"
      ],
      "force_paths": [
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237
      ],
      "contact_paths": [
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy"
      ],
      "force_paths": [
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0043",
      "frame_indices": [
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323
      ],
      "contact_paths": [
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy"
      ],
      "force_paths": [
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0044",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0045",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        2,
        5,
        8,
        11,
        14,
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50
      ],
      "contact_paths": [
        "modalities/contact/000002.npy",
        "modalities/contact/000005.npy",
        "modalities/contact/000008.npy",
        "modalities/contact/000011.npy",
        "modalities/contact/000014.npy",
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy"
      ],
      "force_paths": [
        "modalities/force/000002.npy",
        "modalities/force/000005.npy",
        "modalities/force/000008.npy",
        "modalities/force/000011.npy",
        "modalities/force/000014.npy",
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67
      ],
      "contact_paths": [
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy"
      ],
      "force_paths": [
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0046",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71
      ],
      "contact_paths": [
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy"
      ],
      "force_paths": [
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314
      ],
      "contact_paths": [
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy"
      ],
      "force_paths": [
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0047",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60
      ],
      "contact_paths": [
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy"
      ],
      "force_paths": [
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0048",
      "frame_indices": [
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326
      ],
      "contact_paths": [
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy"
      ],
      "force_paths": [
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291
      ],
      "contact_paths": [
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy"
      ],
      "force_paths": [
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308
      ],
      "contact_paths": [
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy"
      ],
      "force_paths": [
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0049",
      "frame_indices": [
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325
      ],
      "contact_paths": [
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy"
      ],
      "force_paths": [
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78
      ],
      "contact_paths": [
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy"
      ],
      "force_paths": [
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280
      ],
      "contact_paths": [
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy"
      ],
      "force_paths": [
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0050",
      "frame_indices": [
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314
      ],
      "contact_paths": [
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy"
      ],
      "force_paths": [
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        9,
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57
      ],
      "contact_paths": [
        "modalities/contact/000009.npy",
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy"
      ],
      "force_paths": [
        "modalities/force/000009.npy",
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123
      ],
      "contact_paths": [
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy"
      ],
      "force_paths": [
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0051",
      "frame_indices": [
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289
      ],
      "contact_paths": [
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy"
      ],
      "force_paths": [
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257
      ],
      "contact_paths": [
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy"
      ],
      "force_paths": [
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288
      ],
      "contact_paths": [
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy"
      ],
      "force_paths": [
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0052",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72
      ],
      "contact_paths": [
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy"
      ],
      "force_paths": [
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195
      ],
      "contact_paths": [
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy"
      ],
      "force_paths": [
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300
      ],
      "contact_paths": [
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy"
      ],
      "force_paths": [
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0053",
      "frame_indices": [
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318
      ],
      "contact_paths": [
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy"
      ],
      "force_paths": [
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61
      ],
      "contact_paths": [
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy"
      ],
      "force_paths": [
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311
      ],
      "contact_paths": [
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy"
      ],
      "force_paths": [
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0054",
      "frame_indices": [
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330
      ],
      "contact_paths": [
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy"
      ],
      "force_paths": [
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0055",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145
      ],
      "contact_paths": [
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy"
      ],
      "force_paths": [
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225
      ],
      "contact_paths": [
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy"
      ],
      "force_paths": [
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0056",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144
      ],
      "contact_paths": [
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy"
      ],
      "force_paths": [
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0057",
      "frame_indices": [
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318
      ],
      "contact_paths": [
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy"
      ],
      "force_paths": [
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270
      ],
      "contact_paths": [
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy"
      ],
      "force_paths": [
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0058",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        17,
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65
      ],
      "contact_paths": [
        "modalities/contact/000017.npy",
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy"
      ],
      "force_paths": [
        "modalities/force/000017.npy",
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105
      ],
      "contact_paths": [
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy"
      ],
      "force_paths": [
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125
      ],
      "contact_paths": [
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy"
      ],
      "force_paths": [
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266
      ],
      "contact_paths": [
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy"
      ],
      "force_paths": [
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0059",
      "frame_indices": [
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347
      ],
      "contact_paths": [
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy"
      ],
      "force_paths": [
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121
      ],
      "contact_paths": [
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy"
      ],
      "force_paths": [
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0060",
      "frame_indices": [
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340
      ],
      "contact_paths": [
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy"
      ],
      "force_paths": [
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66
      ],
      "contact_paths": [
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy"
      ],
      "force_paths": [
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310
      ],
      "contact_paths": [
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy"
      ],
      "force_paths": [
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334
      ],
      "contact_paths": [
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy"
      ],
      "force_paths": [
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358
      ],
      "contact_paths": [
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy"
      ],
      "force_paths": [
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362,
        365,
        368,
        371,
        374,
        377,
        380,
        383
      ],
      "contact_paths": [
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy",
        "modalities/contact/000371.npy",
        "modalities/contact/000374.npy",
        "modalities/contact/000377.npy",
        "modalities/contact/000380.npy",
        "modalities/contact/000383.npy"
      ],
      "force_paths": [
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy",
        "modalities/force/000371.npy",
        "modalities/force/000374.npy",
        "modalities/force/000377.npy",
        "modalities/force/000380.npy",
        "modalities/force/000383.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0061",
      "frame_indices": [
        359,
        362,
        365,
        368,
        371,
        374,
        377,
        380,
        383,
        386,
        389,
        392,
        395,
        398,
        401,
        404,
        407
      ],
      "contact_paths": [
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy",
        "modalities/contact/000371.npy",
        "modalities/contact/000374.npy",
        "modalities/contact/000377.npy",
        "modalities/contact/000380.npy",
        "modalities/contact/000383.npy",
        "modalities/contact/000386.npy",
        "modalities/contact/000389.npy",
        "modalities/contact/000392.npy",
        "modalities/contact/000395.npy",
        "modalities/contact/000398.npy",
        "modalities/contact/000401.npy",
        "modalities/contact/000404.npy",
        "modalities/contact/000407.npy"
      ],
      "force_paths": [
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy",
        "modalities/force/000371.npy",
        "modalities/force/000374.npy",
        "modalities/force/000377.npy",
        "modalities/force/000380.npy",
        "modalities/force/000383.npy",
        "modalities/force/000386.npy",
        "modalities/force/000389.npy",
        "modalities/force/000392.npy",
        "modalities/force/000395.npy",
        "modalities/force/000398.npy",
        "modalities/force/000401.npy",
        "modalities/force/000404.npy",
        "modalities/force/000407.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115
      ],
      "contact_paths": [
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy"
      ],
      "force_paths": [
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292
      ],
      "contact_paths": [
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy"
      ],
      "force_paths": [
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0062",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        1,
        4,
        7,
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49
      ],
      "contact_paths": [
        "modalities/contact/000001.npy",
        "modalities/contact/000004.npy",
        "modalities/contact/000007.npy",
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy"
      ],
      "force_paths": [
        "modalities/force/000001.npy",
        "modalities/force/000004.npy",
        "modalities/force/000007.npy",
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128
      ],
      "contact_paths": [
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy"
      ],
      "force_paths": [
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148
      ],
      "contact_paths": [
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy"
      ],
      "force_paths": [
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207
      ],
      "contact_paths": [
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy"
      ],
      "force_paths": [
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306
      ],
      "contact_paths": [
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy"
      ],
      "force_paths": [
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0063",
      "frame_indices": [
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326
      ],
      "contact_paths": [
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy"
      ],
      "force_paths": [
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166
      ],
      "contact_paths": [
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy"
      ],
      "force_paths": [
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182
      ],
      "contact_paths": [
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy"
      ],
      "force_paths": [
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215
      ],
      "contact_paths": [
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy"
      ],
      "force_paths": [
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295
      ],
      "contact_paths": [
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy"
      ],
      "force_paths": [
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0064",
      "frame_indices": [
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311
      ],
      "contact_paths": [
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy"
      ],
      "force_paths": [
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172
      ],
      "contact_paths": [
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy"
      ],
      "force_paths": [
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317
      ],
      "contact_paths": [
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy"
      ],
      "force_paths": [
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338
      ],
      "contact_paths": [
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy"
      ],
      "force_paths": [
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358
      ],
      "contact_paths": [
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy"
      ],
      "force_paths": [
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0065",
      "frame_indices": [
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361,
        364,
        367,
        370,
        373,
        376,
        379
      ],
      "contact_paths": [
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy",
        "modalities/contact/000367.npy",
        "modalities/contact/000370.npy",
        "modalities/contact/000373.npy",
        "modalities/contact/000376.npy",
        "modalities/contact/000379.npy"
      ],
      "force_paths": [
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy",
        "modalities/force/000367.npy",
        "modalities/force/000370.npy",
        "modalities/force/000373.npy",
        "modalities/force/000376.npy",
        "modalities/force/000379.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63
      ],
      "contact_paths": [
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy"
      ],
      "force_paths": [
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101
      ],
      "contact_paths": [
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy"
      ],
      "force_paths": [
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233
      ],
      "contact_paths": [
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy"
      ],
      "force_paths": [
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309
      ],
      "contact_paths": [
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy"
      ],
      "force_paths": [
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0066",
      "frame_indices": [
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328
      ],
      "contact_paths": [
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy"
      ],
      "force_paths": [
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70
      ],
      "contact_paths": [
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy"
      ],
      "force_paths": [
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88
      ],
      "contact_paths": [
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy"
      ],
      "force_paths": [
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124
      ],
      "contact_paths": [
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy"
      ],
      "force_paths": [
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249
      ],
      "contact_paths": [
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy"
      ],
      "force_paths": [
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0067",
      "frame_indices": [
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321
      ],
      "contact_paths": [
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy"
      ],
      "force_paths": [
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61
      ],
      "contact_paths": [
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy"
      ],
      "force_paths": [
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236
      ],
      "contact_paths": [
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy"
      ],
      "force_paths": [
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314
      ],
      "contact_paths": [
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy"
      ],
      "force_paths": [
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0068",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        4,
        7,
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52
      ],
      "contact_paths": [
        "modalities/contact/000004.npy",
        "modalities/contact/000007.npy",
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy"
      ],
      "force_paths": [
        "modalities/force/000004.npy",
        "modalities/force/000007.npy",
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71
      ],
      "contact_paths": [
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy"
      ],
      "force_paths": [
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109
      ],
      "contact_paths": [
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy"
      ],
      "force_paths": [
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184
      ],
      "contact_paths": [
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy"
      ],
      "force_paths": [
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203
      ],
      "contact_paths": [
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy"
      ],
      "force_paths": [
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0069",
      "frame_indices": [
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316
      ],
      "contact_paths": [
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy"
      ],
      "force_paths": [
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        1,
        4,
        7,
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49
      ],
      "contact_paths": [
        "modalities/contact/000001.npy",
        "modalities/contact/000004.npy",
        "modalities/contact/000007.npy",
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy"
      ],
      "force_paths": [
        "modalities/force/000001.npy",
        "modalities/force/000004.npy",
        "modalities/force/000007.npy",
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70
      ],
      "contact_paths": [
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy"
      ],
      "force_paths": [
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260
      ],
      "contact_paths": [
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy"
      ],
      "force_paths": [
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324
      ],
      "contact_paths": [
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy"
      ],
      "force_paths": [
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0070",
      "frame_indices": [
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345
      ],
      "contact_paths": [
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy"
      ],
      "force_paths": [
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72
      ],
      "contact_paths": [
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy"
      ],
      "force_paths": [
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94
      ],
      "contact_paths": [
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy"
      ],
      "force_paths": [
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139
      ],
      "contact_paths": [
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy"
      ],
      "force_paths": [
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272
      ],
      "contact_paths": [
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy"
      ],
      "force_paths": [
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316
      ],
      "contact_paths": [
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy"
      ],
      "force_paths": [
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339
      ],
      "contact_paths": [
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy"
      ],
      "force_paths": [
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361
      ],
      "contact_paths": [
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy"
      ],
      "force_paths": [
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0071",
      "frame_indices": [
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362,
        365,
        368,
        371,
        374,
        377,
        380,
        383
      ],
      "contact_paths": [
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy",
        "modalities/contact/000371.npy",
        "modalities/contact/000374.npy",
        "modalities/contact/000377.npy",
        "modalities/contact/000380.npy",
        "modalities/contact/000383.npy"
      ],
      "force_paths": [
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy",
        "modalities/force/000371.npy",
        "modalities/force/000374.npy",
        "modalities/force/000377.npy",
        "modalities/force/000380.npy",
        "modalities/force/000383.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77
      ],
      "contact_paths": [
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy"
      ],
      "force_paths": [
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149
      ],
      "contact_paths": [
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy"
      ],
      "force_paths": [
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167
      ],
      "contact_paths": [
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy"
      ],
      "force_paths": [
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276
      ],
      "contact_paths": [
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy"
      ],
      "force_paths": [
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0072",
      "frame_indices": [
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330
      ],
      "contact_paths": [
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy"
      ],
      "force_paths": [
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138
      ],
      "contact_paths": [
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy"
      ],
      "force_paths": [
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216
      ],
      "contact_paths": [
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy"
      ],
      "force_paths": [
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294
      ],
      "contact_paths": [
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy"
      ],
      "force_paths": [
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313
      ],
      "contact_paths": [
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy"
      ],
      "force_paths": [
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0073",
      "frame_indices": [
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352
      ],
      "contact_paths": [
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy"
      ],
      "force_paths": [
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68
      ],
      "contact_paths": [
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy"
      ],
      "force_paths": [
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298
      ],
      "contact_paths": [
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy"
      ],
      "force_paths": [
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319
      ],
      "contact_paths": [
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy"
      ],
      "force_paths": [
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340
      ],
      "contact_paths": [
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy"
      ],
      "force_paths": [
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0074",
      "frame_indices": [
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361
      ],
      "contact_paths": [
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy"
      ],
      "force_paths": [
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96
      ],
      "contact_paths": [
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy"
      ],
      "force_paths": [
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113
      ],
      "contact_paths": [
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy"
      ],
      "force_paths": [
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181
      ],
      "contact_paths": [
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy"
      ],
      "force_paths": [
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198
      ],
      "contact_paths": [
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy"
      ],
      "force_paths": [
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214
      ],
      "contact_paths": [
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy"
      ],
      "force_paths": [
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316
      ],
      "contact_paths": [
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy"
      ],
      "force_paths": [
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0075",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        7,
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55
      ],
      "contact_paths": [
        "modalities/contact/000007.npy",
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy"
      ],
      "force_paths": [
        "modalities/force/000007.npy",
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93
      ],
      "contact_paths": [
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy"
      ],
      "force_paths": [
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112
      ],
      "contact_paths": [
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy"
      ],
      "force_paths": [
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227
      ],
      "contact_paths": [
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy"
      ],
      "force_paths": [
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303
      ],
      "contact_paths": [
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy"
      ],
      "force_paths": [
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0076",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244
      ],
      "contact_paths": [
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy"
      ],
      "force_paths": [
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318
      ],
      "contact_paths": [
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy"
      ],
      "force_paths": [
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0077",
      "frame_indices": [
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336
      ],
      "contact_paths": [
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy"
      ],
      "force_paths": [
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79
      ],
      "contact_paths": [
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy"
      ],
      "force_paths": [
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160
      ],
      "contact_paths": [
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy"
      ],
      "force_paths": [
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201
      ],
      "contact_paths": [
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy"
      ],
      "force_paths": [
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343
      ],
      "contact_paths": [
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy"
      ],
      "force_paths": [
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0078",
      "frame_indices": [
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354,
        357,
        360,
        363
      ],
      "contact_paths": [
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy",
        "modalities/contact/000360.npy",
        "modalities/contact/000363.npy"
      ],
      "force_paths": [
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy",
        "modalities/force/000360.npy",
        "modalities/force/000363.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71
      ],
      "contact_paths": [
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy"
      ],
      "force_paths": [
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91
      ],
      "contact_paths": [
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy"
      ],
      "force_paths": [
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110
      ],
      "contact_paths": [
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy"
      ],
      "force_paths": [
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189
      ],
      "contact_paths": [
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy"
      ],
      "force_paths": [
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287
      ],
      "contact_paths": [
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy"
      ],
      "force_paths": [
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307
      ],
      "contact_paths": [
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy"
      ],
      "force_paths": [
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326
      ],
      "contact_paths": [
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy"
      ],
      "force_paths": [
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0079",
      "frame_indices": [
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346
      ],
      "contact_paths": [
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy"
      ],
      "force_paths": [
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66
      ],
      "contact_paths": [
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy"
      ],
      "force_paths": [
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178
      ],
      "contact_paths": [
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy"
      ],
      "force_paths": [
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194
      ],
      "contact_paths": [
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy"
      ],
      "force_paths": [
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226
      ],
      "contact_paths": [
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy"
      ],
      "force_paths": [
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242
      ],
      "contact_paths": [
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy"
      ],
      "force_paths": [
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274
      ],
      "contact_paths": [
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy"
      ],
      "force_paths": [
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0080",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83
      ],
      "contact_paths": [
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy"
      ],
      "force_paths": [
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161
      ],
      "contact_paths": [
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy"
      ],
      "force_paths": [
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177
      ],
      "contact_paths": [
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy"
      ],
      "force_paths": [
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224
      ],
      "contact_paths": [
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy"
      ],
      "force_paths": [
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286
      ],
      "contact_paths": [
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy"
      ],
      "force_paths": [
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0081",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135
      ],
      "contact_paths": [
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy"
      ],
      "force_paths": [
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185
      ],
      "contact_paths": [
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy"
      ],
      "force_paths": [
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251
      ],
      "contact_paths": [
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy"
      ],
      "force_paths": [
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268
      ],
      "contact_paths": [
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy"
      ],
      "force_paths": [
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284
      ],
      "contact_paths": [
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy"
      ],
      "force_paths": [
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0082",
      "frame_indices": [
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301
      ],
      "contact_paths": [
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy"
      ],
      "force_paths": [
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        3,
        6,
        9,
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51
      ],
      "contact_paths": [
        "modalities/contact/000003.npy",
        "modalities/contact/000006.npy",
        "modalities/contact/000009.npy",
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy"
      ],
      "force_paths": [
        "modalities/force/000003.npy",
        "modalities/force/000006.npy",
        "modalities/force/000009.npy",
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68
      ],
      "contact_paths": [
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy"
      ],
      "force_paths": [
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102
      ],
      "contact_paths": [
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy"
      ],
      "force_paths": [
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136
      ],
      "contact_paths": [
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy"
      ],
      "force_paths": [
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153
      ],
      "contact_paths": [
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy"
      ],
      "force_paths": [
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0083",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        20,
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68
      ],
      "contact_paths": [
        "modalities/contact/000020.npy",
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy"
      ],
      "force_paths": [
        "modalities/force/000020.npy",
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132
      ],
      "contact_paths": [
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy"
      ],
      "force_paths": [
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154
      ],
      "contact_paths": [
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy"
      ],
      "force_paths": [
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197
      ],
      "contact_paths": [
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy"
      ],
      "force_paths": [
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261
      ],
      "contact_paths": [
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy"
      ],
      "force_paths": [
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282
      ],
      "contact_paths": [
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy"
      ],
      "force_paths": [
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325
      ],
      "contact_paths": [
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy"
      ],
      "force_paths": [
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347
      ],
      "contact_paths": [
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy"
      ],
      "force_paths": [
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0084",
      "frame_indices": [
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362,
        365,
        368
      ],
      "contact_paths": [
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy"
      ],
      "force_paths": [
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80
      ],
      "contact_paths": [
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy"
      ],
      "force_paths": [
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116
      ],
      "contact_paths": [
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy"
      ],
      "force_paths": [
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152
      ],
      "contact_paths": [
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy"
      ],
      "force_paths": [
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170
      ],
      "contact_paths": [
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy"
      ],
      "force_paths": [
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223
      ],
      "contact_paths": [
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy"
      ],
      "force_paths": [
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241
      ],
      "contact_paths": [
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy"
      ],
      "force_paths": [
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259
      ],
      "contact_paths": [
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy"
      ],
      "force_paths": [
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295
      ],
      "contact_paths": [
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy"
      ],
      "force_paths": [
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313
      ],
      "contact_paths": [
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy"
      ],
      "force_paths": [
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0085",
      "frame_indices": [
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331
      ],
      "contact_paths": [
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy"
      ],
      "force_paths": [
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97
      ],
      "contact_paths": [
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy"
      ],
      "force_paths": [
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114
      ],
      "contact_paths": [
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy"
      ],
      "force_paths": [
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130
      ],
      "contact_paths": [
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy"
      ],
      "force_paths": [
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163
      ],
      "contact_paths": [
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy"
      ],
      "force_paths": [
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212
      ],
      "contact_paths": [
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy"
      ],
      "force_paths": [
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245
      ],
      "contact_paths": [
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy"
      ],
      "force_paths": [
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262
      ],
      "contact_paths": [
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy"
      ],
      "force_paths": [
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295
      ],
      "contact_paths": [
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy"
      ],
      "force_paths": [
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0086",
      "frame_indices": [
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311
      ],
      "contact_paths": [
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy"
      ],
      "force_paths": [
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95
      ],
      "contact_paths": [
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy"
      ],
      "force_paths": [
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111
      ],
      "contact_paths": [
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy"
      ],
      "force_paths": [
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143
      ],
      "contact_paths": [
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy"
      ],
      "force_paths": [
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158
      ],
      "contact_paths": [
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy"
      ],
      "force_paths": [
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190
      ],
      "contact_paths": [
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy"
      ],
      "force_paths": [
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222
      ],
      "contact_paths": [
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy"
      ],
      "force_paths": [
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254
      ],
      "contact_paths": [
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy"
      ],
      "force_paths": [
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269
      ],
      "contact_paths": [
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy"
      ],
      "force_paths": [
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301
      ],
      "contact_paths": [
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy"
      ],
      "force_paths": [
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0087",
      "frame_indices": [
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317
      ],
      "contact_paths": [
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy"
      ],
      "force_paths": [
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        23,
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71
      ],
      "contact_paths": [
        "modalities/contact/000023.npy",
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy"
      ],
      "force_paths": [
        "modalities/force/000023.npy",
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90
      ],
      "contact_paths": [
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy"
      ],
      "force_paths": [
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127
      ],
      "contact_paths": [
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy"
      ],
      "force_paths": [
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146
      ],
      "contact_paths": [
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy"
      ],
      "force_paths": [
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165
      ],
      "contact_paths": [
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy"
      ],
      "force_paths": [
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183
      ],
      "contact_paths": [
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy"
      ],
      "force_paths": [
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202
      ],
      "contact_paths": [
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy"
      ],
      "force_paths": [
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239
      ],
      "contact_paths": [
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy"
      ],
      "force_paths": [
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258
      ],
      "contact_paths": [
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy"
      ],
      "force_paths": [
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296
      ],
      "contact_paths": [
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy"
      ],
      "force_paths": [
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314
      ],
      "contact_paths": [
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy"
      ],
      "force_paths": [
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0088",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        26,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74
      ],
      "contact_paths": [
        "modalities/contact/000026.npy",
        "modalities/contact/000029.npy",
        "modalities/contact/000032.npy",
        "modalities/contact/000035.npy",
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy"
      ],
      "force_paths": [
        "modalities/force/000026.npy",
        "modalities/force/000029.npy",
        "modalities/force/000032.npy",
        "modalities/force/000035.npy",
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89
      ],
      "contact_paths": [
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy"
      ],
      "force_paths": [
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103
      ],
      "contact_paths": [
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy"
      ],
      "force_paths": [
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133
      ],
      "contact_paths": [
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy"
      ],
      "force_paths": [
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162
      ],
      "contact_paths": [
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy"
      ],
      "force_paths": [
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176
      ],
      "contact_paths": [
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy"
      ],
      "force_paths": [
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191
      ],
      "contact_paths": [
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy"
      ],
      "force_paths": [
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206
      ],
      "contact_paths": [
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy"
      ],
      "force_paths": [
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220
      ],
      "contact_paths": [
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy"
      ],
      "force_paths": [
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235
      ],
      "contact_paths": [
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy"
      ],
      "force_paths": [
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0089",
      "frame_indices": [
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279
      ],
      "contact_paths": [
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy"
      ],
      "force_paths": [
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119
      ],
      "contact_paths": [
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy"
      ],
      "force_paths": [
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247
      ],
      "contact_paths": [
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy"
      ],
      "force_paths": [
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265
      ],
      "contact_paths": [
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy"
      ],
      "force_paths": [
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283
      ],
      "contact_paths": [
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy"
      ],
      "force_paths": [
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301
      ],
      "contact_paths": [
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy"
      ],
      "force_paths": [
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320
      ],
      "contact_paths": [
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy"
      ],
      "force_paths": [
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0090",
      "frame_indices": [
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338
      ],
      "contact_paths": [
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy"
      ],
      "force_paths": [
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        3,
        6,
        9,
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51
      ],
      "contact_paths": [
        "modalities/contact/000003.npy",
        "modalities/contact/000006.npy",
        "modalities/contact/000009.npy",
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy"
      ],
      "force_paths": [
        "modalities/force/000003.npy",
        "modalities/force/000006.npy",
        "modalities/force/000009.npy",
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69
      ],
      "contact_paths": [
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy"
      ],
      "force_paths": [
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        38,
        41,
        44,
        47,
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86
      ],
      "contact_paths": [
        "modalities/contact/000038.npy",
        "modalities/contact/000041.npy",
        "modalities/contact/000044.npy",
        "modalities/contact/000047.npy",
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy"
      ],
      "force_paths": [
        "modalities/force/000038.npy",
        "modalities/force/000041.npy",
        "modalities/force/000044.npy",
        "modalities/force/000047.npy",
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104
      ],
      "contact_paths": [
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy"
      ],
      "force_paths": [
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122
      ],
      "contact_paths": [
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy"
      ],
      "force_paths": [
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140
      ],
      "contact_paths": [
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy"
      ],
      "force_paths": [
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157
      ],
      "contact_paths": [
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy"
      ],
      "force_paths": [
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175
      ],
      "contact_paths": [
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy"
      ],
      "force_paths": [
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193
      ],
      "contact_paths": [
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy"
      ],
      "force_paths": [
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210
      ],
      "contact_paths": [
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy"
      ],
      "force_paths": [
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246
      ],
      "contact_paths": [
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy"
      ],
      "force_paths": [
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264
      ],
      "contact_paths": [
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy"
      ],
      "force_paths": [
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281
      ],
      "contact_paths": [
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy"
      ],
      "force_paths": [
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0091",
      "frame_indices": [
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299
      ],
      "contact_paths": [
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy"
      ],
      "force_paths": [
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        10,
        13,
        16,
        19,
        22,
        25,
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58
      ],
      "contact_paths": [
        "modalities/contact/000010.npy",
        "modalities/contact/000013.npy",
        "modalities/contact/000016.npy",
        "modalities/contact/000019.npy",
        "modalities/contact/000022.npy",
        "modalities/contact/000025.npy",
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy"
      ],
      "force_paths": [
        "modalities/force/000010.npy",
        "modalities/force/000013.npy",
        "modalities/force/000016.npy",
        "modalities/force/000019.npy",
        "modalities/force/000022.npy",
        "modalities/force/000025.npy",
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107
      ],
      "contact_paths": [
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy"
      ],
      "force_paths": [
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156
      ],
      "contact_paths": [
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy"
      ],
      "force_paths": [
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180
      ],
      "contact_paths": [
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy"
      ],
      "force_paths": [
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205
      ],
      "contact_paths": [
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy"
      ],
      "force_paths": [
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229
      ],
      "contact_paths": [
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy"
      ],
      "force_paths": [
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278
      ],
      "contact_paths": [
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy"
      ],
      "force_paths": [
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302
      ],
      "contact_paths": [
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy"
      ],
      "force_paths": [
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327
      ],
      "contact_paths": [
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy"
      ],
      "force_paths": [
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351
      ],
      "contact_paths": [
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy"
      ],
      "force_paths": [
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361,
        364,
        367,
        370,
        373,
        376
      ],
      "contact_paths": [
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy",
        "modalities/contact/000367.npy",
        "modalities/contact/000370.npy",
        "modalities/contact/000373.npy",
        "modalities/contact/000376.npy"
      ],
      "force_paths": [
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy",
        "modalities/force/000367.npy",
        "modalities/force/000370.npy",
        "modalities/force/000373.npy",
        "modalities/force/000376.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0092",
      "frame_indices": [
        352,
        355,
        358,
        361,
        364,
        367,
        370,
        373,
        376,
        379,
        382,
        385,
        388,
        391,
        394,
        397,
        400
      ],
      "contact_paths": [
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy",
        "modalities/contact/000367.npy",
        "modalities/contact/000370.npy",
        "modalities/contact/000373.npy",
        "modalities/contact/000376.npy",
        "modalities/contact/000379.npy",
        "modalities/contact/000382.npy",
        "modalities/contact/000385.npy",
        "modalities/contact/000388.npy",
        "modalities/contact/000391.npy",
        "modalities/contact/000394.npy",
        "modalities/contact/000397.npy",
        "modalities/contact/000400.npy"
      ],
      "force_paths": [
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy",
        "modalities/force/000367.npy",
        "modalities/force/000370.npy",
        "modalities/force/000373.npy",
        "modalities/force/000376.npy",
        "modalities/force/000379.npy",
        "modalities/force/000382.npy",
        "modalities/force/000385.npy",
        "modalities/force/000388.npy",
        "modalities/force/000391.npy",
        "modalities/force/000394.npy",
        "modalities/force/000397.npy",
        "modalities/force/000400.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        6,
        9,
        12,
        15,
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54
      ],
      "contact_paths": [
        "modalities/contact/000006.npy",
        "modalities/contact/000009.npy",
        "modalities/contact/000012.npy",
        "modalities/contact/000015.npy",
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy"
      ],
      "force_paths": [
        "modalities/force/000006.npy",
        "modalities/force/000009.npy",
        "modalities/force/000012.npy",
        "modalities/force/000015.npy",
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        28,
        31,
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76
      ],
      "contact_paths": [
        "modalities/contact/000028.npy",
        "modalities/contact/000031.npy",
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy"
      ],
      "force_paths": [
        "modalities/force/000028.npy",
        "modalities/force/000031.npy",
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        50,
        53,
        56,
        59,
        62,
        65,
        68,
        71,
        74,
        77,
        80,
        83,
        86,
        89,
        92,
        95,
        98
      ],
      "contact_paths": [
        "modalities/contact/000050.npy",
        "modalities/contact/000053.npy",
        "modalities/contact/000056.npy",
        "modalities/contact/000059.npy",
        "modalities/contact/000062.npy",
        "modalities/contact/000065.npy",
        "modalities/contact/000068.npy",
        "modalities/contact/000071.npy",
        "modalities/contact/000074.npy",
        "modalities/contact/000077.npy",
        "modalities/contact/000080.npy",
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy"
      ],
      "force_paths": [
        "modalities/force/000050.npy",
        "modalities/force/000053.npy",
        "modalities/force/000056.npy",
        "modalities/force/000059.npy",
        "modalities/force/000062.npy",
        "modalities/force/000065.npy",
        "modalities/force/000068.npy",
        "modalities/force/000071.npy",
        "modalities/force/000074.npy",
        "modalities/force/000077.npy",
        "modalities/force/000080.npy",
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120
      ],
      "contact_paths": [
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy"
      ],
      "force_paths": [
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142
      ],
      "contact_paths": [
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy"
      ],
      "force_paths": [
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164
      ],
      "contact_paths": [
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy"
      ],
      "force_paths": [
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208
      ],
      "contact_paths": [
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy"
      ],
      "force_paths": [
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231
      ],
      "contact_paths": [
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy"
      ],
      "force_paths": [
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253
      ],
      "contact_paths": [
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy"
      ],
      "force_paths": [
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275
      ],
      "contact_paths": [
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy"
      ],
      "force_paths": [
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319
      ],
      "contact_paths": [
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy"
      ],
      "force_paths": [
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341
      ],
      "contact_paths": [
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy"
      ],
      "force_paths": [
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0093",
      "frame_indices": [
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354,
        357,
        360,
        363
      ],
      "contact_paths": [
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy",
        "modalities/contact/000360.npy",
        "modalities/contact/000363.npy"
      ],
      "force_paths": [
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy",
        "modalities/force/000360.npy",
        "modalities/force/000363.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        83,
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131
      ],
      "contact_paths": [
        "modalities/contact/000083.npy",
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy"
      ],
      "force_paths": [
        "modalities/force/000083.npy",
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179
      ],
      "contact_paths": [
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy"
      ],
      "force_paths": [
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228
      ],
      "contact_paths": [
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy"
      ],
      "force_paths": [
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252
      ],
      "contact_paths": [
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy"
      ],
      "force_paths": [
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277
      ],
      "contact_paths": [
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy"
      ],
      "force_paths": [
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301
      ],
      "contact_paths": [
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy"
      ],
      "force_paths": [
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326
      ],
      "contact_paths": [
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy"
      ],
      "force_paths": [
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350
      ],
      "contact_paths": [
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy"
      ],
      "force_paths": [
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362,
        365,
        368,
        371,
        374
      ],
      "contact_paths": [
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy",
        "modalities/contact/000371.npy",
        "modalities/contact/000374.npy"
      ],
      "force_paths": [
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy",
        "modalities/force/000371.npy",
        "modalities/force/000374.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        351,
        354,
        357,
        360,
        363,
        366,
        369,
        372,
        375,
        378,
        381,
        384,
        387,
        390,
        393,
        396,
        399
      ],
      "contact_paths": [
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy",
        "modalities/contact/000360.npy",
        "modalities/contact/000363.npy",
        "modalities/contact/000366.npy",
        "modalities/contact/000369.npy",
        "modalities/contact/000372.npy",
        "modalities/contact/000375.npy",
        "modalities/contact/000378.npy",
        "modalities/contact/000381.npy",
        "modalities/contact/000384.npy",
        "modalities/contact/000387.npy",
        "modalities/contact/000390.npy",
        "modalities/contact/000393.npy",
        "modalities/contact/000396.npy",
        "modalities/contact/000399.npy"
      ],
      "force_paths": [
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy",
        "modalities/force/000360.npy",
        "modalities/force/000363.npy",
        "modalities/force/000366.npy",
        "modalities/force/000369.npy",
        "modalities/force/000372.npy",
        "modalities/force/000375.npy",
        "modalities/force/000378.npy",
        "modalities/force/000381.npy",
        "modalities/force/000384.npy",
        "modalities/force/000387.npy",
        "modalities/force/000390.npy",
        "modalities/force/000393.npy",
        "modalities/force/000396.npy",
        "modalities/force/000399.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0094",
      "frame_indices": [
        375,
        378,
        381,
        384,
        387,
        390,
        393,
        396,
        399,
        402,
        405,
        408,
        411,
        414,
        417,
        420,
        423
      ],
      "contact_paths": [
        "modalities/contact/000375.npy",
        "modalities/contact/000378.npy",
        "modalities/contact/000381.npy",
        "modalities/contact/000384.npy",
        "modalities/contact/000387.npy",
        "modalities/contact/000390.npy",
        "modalities/contact/000393.npy",
        "modalities/contact/000396.npy",
        "modalities/contact/000399.npy",
        "modalities/contact/000402.npy",
        "modalities/contact/000405.npy",
        "modalities/contact/000408.npy",
        "modalities/contact/000411.npy",
        "modalities/contact/000414.npy",
        "modalities/contact/000417.npy",
        "modalities/contact/000420.npy",
        "modalities/contact/000423.npy"
      ],
      "force_paths": [
        "modalities/force/000375.npy",
        "modalities/force/000378.npy",
        "modalities/force/000381.npy",
        "modalities/force/000384.npy",
        "modalities/force/000387.npy",
        "modalities/force/000390.npy",
        "modalities/force/000393.npy",
        "modalities/force/000396.npy",
        "modalities/force/000399.npy",
        "modalities/force/000402.npy",
        "modalities/force/000405.npy",
        "modalities/force/000408.npy",
        "modalities/force/000411.npy",
        "modalities/force/000414.npy",
        "modalities/force/000417.npy",
        "modalities/force/000420.npy",
        "modalities/force/000423.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85
      ],
      "contact_paths": [
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy"
      ],
      "force_paths": [
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126
      ],
      "contact_paths": [
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy"
      ],
      "force_paths": [
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147
      ],
      "contact_paths": [
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy"
      ],
      "force_paths": [
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168
      ],
      "contact_paths": [
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy"
      ],
      "force_paths": [
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188
      ],
      "contact_paths": [
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy"
      ],
      "force_paths": [
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        161,
        164,
        167,
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209
      ],
      "contact_paths": [
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy"
      ],
      "force_paths": [
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250
      ],
      "contact_paths": [
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy"
      ],
      "force_paths": [
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271
      ],
      "contact_paths": [
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy"
      ],
      "force_paths": [
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291
      ],
      "contact_paths": [
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy"
      ],
      "force_paths": [
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312
      ],
      "contact_paths": [
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy"
      ],
      "force_paths": [
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333
      ],
      "contact_paths": [
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy"
      ],
      "force_paths": [
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353
      ],
      "contact_paths": [
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy"
      ],
      "force_paths": [
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0095",
      "frame_indices": [
        326,
        329,
        332,
        335,
        338,
        341,
        344,
        347,
        350,
        353,
        356,
        359,
        362,
        365,
        368,
        371,
        374
      ],
      "contact_paths": [
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy",
        "modalities/contact/000344.npy",
        "modalities/contact/000347.npy",
        "modalities/contact/000350.npy",
        "modalities/contact/000353.npy",
        "modalities/contact/000356.npy",
        "modalities/contact/000359.npy",
        "modalities/contact/000362.npy",
        "modalities/contact/000365.npy",
        "modalities/contact/000368.npy",
        "modalities/contact/000371.npy",
        "modalities/contact/000374.npy"
      ],
      "force_paths": [
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy",
        "modalities/force/000344.npy",
        "modalities/force/000347.npy",
        "modalities/force/000350.npy",
        "modalities/force/000353.npy",
        "modalities/force/000356.npy",
        "modalities/force/000359.npy",
        "modalities/force/000362.npy",
        "modalities/force/000365.npy",
        "modalities/force/000368.npy",
        "modalities/force/000371.npy",
        "modalities/force/000374.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84
      ],
      "contact_paths": [
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy"
      ],
      "force_paths": [
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106
      ],
      "contact_paths": [
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy"
      ],
      "force_paths": [
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155,
        158,
        161,
        164,
        167,
        170,
        173
      ],
      "contact_paths": [
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy",
        "modalities/contact/000158.npy",
        "modalities/contact/000161.npy",
        "modalities/contact/000164.npy",
        "modalities/contact/000167.npy",
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy"
      ],
      "force_paths": [
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy",
        "modalities/force/000158.npy",
        "modalities/force/000161.npy",
        "modalities/force/000164.npy",
        "modalities/force/000167.npy",
        "modalities/force/000170.npy",
        "modalities/force/000173.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196
      ],
      "contact_paths": [
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy"
      ],
      "force_paths": [
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        170,
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218
      ],
      "contact_paths": [
        "modalities/contact/000170.npy",
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy"
      ],
      "force_paths": [
        "modalities/force/000170.npy",
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240
      ],
      "contact_paths": [
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy"
      ],
      "force_paths": [
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263
      ],
      "contact_paths": [
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy"
      ],
      "force_paths": [
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308
      ],
      "contact_paths": [
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy"
      ],
      "force_paths": [
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330
      ],
      "contact_paths": [
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy"
      ],
      "force_paths": [
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352
      ],
      "contact_paths": [
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy",
        "modalities/contact/000328.npy",
        "modalities/contact/000331.npy",
        "modalities/contact/000334.npy",
        "modalities/contact/000337.npy",
        "modalities/contact/000340.npy",
        "modalities/contact/000343.npy",
        "modalities/contact/000346.npy",
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy"
      ],
      "force_paths": [
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy",
        "modalities/force/000328.npy",
        "modalities/force/000331.npy",
        "modalities/force/000334.npy",
        "modalities/force/000337.npy",
        "modalities/force/000340.npy",
        "modalities/force/000343.npy",
        "modalities/force/000346.npy",
        "modalities/force/000349.npy",
        "modalities/force/000352.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354,
        357,
        360,
        363,
        366,
        369,
        372,
        375
      ],
      "contact_paths": [
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy",
        "modalities/contact/000360.npy",
        "modalities/contact/000363.npy",
        "modalities/contact/000366.npy",
        "modalities/contact/000369.npy",
        "modalities/contact/000372.npy",
        "modalities/contact/000375.npy"
      ],
      "force_paths": [
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy",
        "modalities/force/000360.npy",
        "modalities/force/000363.npy",
        "modalities/force/000366.npy",
        "modalities/force/000369.npy",
        "modalities/force/000372.npy",
        "modalities/force/000375.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0096",
      "frame_indices": [
        349,
        352,
        355,
        358,
        361,
        364,
        367,
        370,
        373,
        376,
        379,
        382,
        385,
        388,
        391,
        394,
        397
      ],
      "contact_paths": [
        "modalities/contact/000349.npy",
        "modalities/contact/000352.npy",
        "modalities/contact/000355.npy",
        "modalities/contact/000358.npy",
        "modalities/contact/000361.npy",
        "modalities/contact/000364.npy",
        "modalities/contact/000367.npy",
        "modalities/contact/000370.npy",
        "modalities/contact/000373.npy",
        "modalities/contact/000376.npy",
        "modalities/contact/000379.npy",
        "modalities/contact/000382.npy",
        "modalities/contact/000385.npy",
        "modalities/contact/000388.npy",
        "modalities/contact/000391.npy",
        "modalities/contact/000394.npy",
        "modalities/contact/000397.npy"
      ],
      "force_paths": [
        "modalities/force/000349.npy",
        "modalities/force/000352.npy",
        "modalities/force/000355.npy",
        "modalities/force/000358.npy",
        "modalities/force/000361.npy",
        "modalities/force/000364.npy",
        "modalities/force/000367.npy",
        "modalities/force/000370.npy",
        "modalities/force/000373.npy",
        "modalities/force/000376.npy",
        "modalities/force/000379.npy",
        "modalities/force/000382.npy",
        "modalities/force/000385.npy",
        "modalities/force/000388.npy",
        "modalities/force/000391.npy",
        "modalities/force/000394.npy",
        "modalities/force/000397.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        18,
        21,
        24,
        27,
        30,
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66
      ],
      "contact_paths": [
        "modalities/contact/000018.npy",
        "modalities/contact/000021.npy",
        "modalities/contact/000024.npy",
        "modalities/contact/000027.npy",
        "modalities/contact/000030.npy",
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy"
      ],
      "force_paths": [
        "modalities/force/000018.npy",
        "modalities/force/000021.npy",
        "modalities/force/000024.npy",
        "modalities/force/000027.npy",
        "modalities/force/000030.npy",
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87
      ],
      "contact_paths": [
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy"
      ],
      "force_paths": [
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108
      ],
      "contact_paths": [
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy"
      ],
      "force_paths": [
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129
      ],
      "contact_paths": [
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy"
      ],
      "force_paths": [
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        102,
        105,
        108,
        111,
        114,
        117,
        120,
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150
      ],
      "contact_paths": [
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy",
        "modalities/contact/000120.npy",
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy"
      ],
      "force_paths": [
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy",
        "modalities/force/000120.npy",
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        123,
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171
      ],
      "contact_paths": [
        "modalities/contact/000123.npy",
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy"
      ],
      "force_paths": [
        "modalities/force/000123.npy",
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213
      ],
      "contact_paths": [
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy"
      ],
      "force_paths": [
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        186,
        189,
        192,
        195,
        198,
        201,
        204,
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234
      ],
      "contact_paths": [
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy",
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy"
      ],
      "force_paths": [
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy",
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        207,
        210,
        213,
        216,
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255
      ],
      "contact_paths": [
        "modalities/contact/000207.npy",
        "modalities/contact/000210.npy",
        "modalities/contact/000213.npy",
        "modalities/contact/000216.npy",
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy"
      ],
      "force_paths": [
        "modalities/force/000207.npy",
        "modalities/force/000210.npy",
        "modalities/force/000213.npy",
        "modalities/force/000216.npy",
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276
      ],
      "contact_paths": [
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy"
      ],
      "force_paths": [
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297
      ],
      "contact_paths": [
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy"
      ],
      "force_paths": [
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        270,
        273,
        276,
        279,
        282,
        285,
        288,
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318
      ],
      "contact_paths": [
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy",
        "modalities/contact/000288.npy",
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy"
      ],
      "force_paths": [
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy",
        "modalities/force/000288.npy",
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        291,
        294,
        297,
        300,
        303,
        306,
        309,
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339
      ],
      "contact_paths": [
        "modalities/contact/000291.npy",
        "modalities/contact/000294.npy",
        "modalities/contact/000297.npy",
        "modalities/contact/000300.npy",
        "modalities/contact/000303.npy",
        "modalities/contact/000306.npy",
        "modalities/contact/000309.npy",
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy"
      ],
      "force_paths": [
        "modalities/force/000291.npy",
        "modalities/force/000294.npy",
        "modalities/force/000297.npy",
        "modalities/force/000300.npy",
        "modalities/force/000303.npy",
        "modalities/force/000306.npy",
        "modalities/force/000309.npy",
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0097",
      "frame_indices": [
        312,
        315,
        318,
        321,
        324,
        327,
        330,
        333,
        336,
        339,
        342,
        345,
        348,
        351,
        354,
        357,
        360
      ],
      "contact_paths": [
        "modalities/contact/000312.npy",
        "modalities/contact/000315.npy",
        "modalities/contact/000318.npy",
        "modalities/contact/000321.npy",
        "modalities/contact/000324.npy",
        "modalities/contact/000327.npy",
        "modalities/contact/000330.npy",
        "modalities/contact/000333.npy",
        "modalities/contact/000336.npy",
        "modalities/contact/000339.npy",
        "modalities/contact/000342.npy",
        "modalities/contact/000345.npy",
        "modalities/contact/000348.npy",
        "modalities/contact/000351.npy",
        "modalities/contact/000354.npy",
        "modalities/contact/000357.npy",
        "modalities/contact/000360.npy"
      ],
      "force_paths": [
        "modalities/force/000312.npy",
        "modalities/force/000315.npy",
        "modalities/force/000318.npy",
        "modalities/force/000321.npy",
        "modalities/force/000324.npy",
        "modalities/force/000327.npy",
        "modalities/force/000330.npy",
        "modalities/force/000333.npy",
        "modalities/force/000336.npy",
        "modalities/force/000339.npy",
        "modalities/force/000342.npy",
        "modalities/force/000345.npy",
        "modalities/force/000348.npy",
        "modalities/force/000351.npy",
        "modalities/force/000354.npy",
        "modalities/force/000357.npy",
        "modalities/force/000360.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        33,
        36,
        39,
        42,
        45,
        48,
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81
      ],
      "contact_paths": [
        "modalities/contact/000033.npy",
        "modalities/contact/000036.npy",
        "modalities/contact/000039.npy",
        "modalities/contact/000042.npy",
        "modalities/contact/000045.npy",
        "modalities/contact/000048.npy",
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy"
      ],
      "force_paths": [
        "modalities/force/000033.npy",
        "modalities/force/000036.npy",
        "modalities/force/000039.npy",
        "modalities/force/000042.npy",
        "modalities/force/000045.npy",
        "modalities/force/000048.npy",
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100
      ],
      "contact_paths": [
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy"
      ],
      "force_paths": [
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        70,
        73,
        76,
        79,
        82,
        85,
        88,
        91,
        94,
        97,
        100,
        103,
        106,
        109,
        112,
        115,
        118
      ],
      "contact_paths": [
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy",
        "modalities/contact/000085.npy",
        "modalities/contact/000088.npy",
        "modalities/contact/000091.npy",
        "modalities/contact/000094.npy",
        "modalities/contact/000097.npy",
        "modalities/contact/000100.npy",
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy"
      ],
      "force_paths": [
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy",
        "modalities/force/000085.npy",
        "modalities/force/000088.npy",
        "modalities/force/000091.npy",
        "modalities/force/000094.npy",
        "modalities/force/000097.npy",
        "modalities/force/000100.npy",
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137
      ],
      "contact_paths": [
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy"
      ],
      "force_paths": [
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134,
        137,
        140,
        143,
        146,
        149,
        152,
        155
      ],
      "contact_paths": [
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy",
        "modalities/contact/000137.npy",
        "modalities/contact/000140.npy",
        "modalities/contact/000143.npy",
        "modalities/contact/000146.npy",
        "modalities/contact/000149.npy",
        "modalities/contact/000152.npy",
        "modalities/contact/000155.npy"
      ],
      "force_paths": [
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy",
        "modalities/force/000137.npy",
        "modalities/force/000140.npy",
        "modalities/force/000143.npy",
        "modalities/force/000146.npy",
        "modalities/force/000149.npy",
        "modalities/force/000152.npy",
        "modalities/force/000155.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        126,
        129,
        132,
        135,
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174
      ],
      "contact_paths": [
        "modalities/contact/000126.npy",
        "modalities/contact/000129.npy",
        "modalities/contact/000132.npy",
        "modalities/contact/000135.npy",
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy"
      ],
      "force_paths": [
        "modalities/force/000126.npy",
        "modalities/force/000129.npy",
        "modalities/force/000132.npy",
        "modalities/force/000135.npy",
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192
      ],
      "contact_paths": [
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy"
      ],
      "force_paths": [
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211
      ],
      "contact_paths": [
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy",
        "modalities/contact/000172.npy",
        "modalities/contact/000175.npy",
        "modalities/contact/000178.npy",
        "modalities/contact/000181.npy",
        "modalities/contact/000184.npy",
        "modalities/contact/000187.npy",
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy"
      ],
      "force_paths": [
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy",
        "modalities/force/000172.npy",
        "modalities/force/000175.npy",
        "modalities/force/000178.npy",
        "modalities/force/000181.npy",
        "modalities/force/000184.npy",
        "modalities/force/000187.npy",
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230
      ],
      "contact_paths": [
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy"
      ],
      "force_paths": [
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221,
        224,
        227,
        230,
        233,
        236,
        239,
        242,
        245,
        248
      ],
      "contact_paths": [
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy",
        "modalities/contact/000224.npy",
        "modalities/contact/000227.npy",
        "modalities/contact/000230.npy",
        "modalities/contact/000233.npy",
        "modalities/contact/000236.npy",
        "modalities/contact/000239.npy",
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy"
      ],
      "force_paths": [
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy",
        "modalities/force/000224.npy",
        "modalities/force/000227.npy",
        "modalities/force/000230.npy",
        "modalities/force/000233.npy",
        "modalities/force/000236.npy",
        "modalities/force/000239.npy",
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        219,
        222,
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267
      ],
      "contact_paths": [
        "modalities/contact/000219.npy",
        "modalities/contact/000222.npy",
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy"
      ],
      "force_paths": [
        "modalities/force/000219.npy",
        "modalities/force/000222.npy",
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273,
        276,
        279,
        282,
        285
      ],
      "contact_paths": [
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy",
        "modalities/contact/000276.npy",
        "modalities/contact/000279.npy",
        "modalities/contact/000282.npy",
        "modalities/contact/000285.npy"
      ],
      "force_paths": [
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy",
        "modalities/force/000276.npy",
        "modalities/force/000279.npy",
        "modalities/force/000282.npy",
        "modalities/force/000285.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304
      ],
      "contact_paths": [
        "modalities/contact/000256.npy",
        "modalities/contact/000259.npy",
        "modalities/contact/000262.npy",
        "modalities/contact/000265.npy",
        "modalities/contact/000268.npy",
        "modalities/contact/000271.npy",
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy"
      ],
      "force_paths": [
        "modalities/force/000256.npy",
        "modalities/force/000259.npy",
        "modalities/force/000262.npy",
        "modalities/force/000265.npy",
        "modalities/force/000268.npy",
        "modalities/force/000271.npy",
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322
      ],
      "contact_paths": [
        "modalities/contact/000274.npy",
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy"
      ],
      "force_paths": [
        "modalities/force/000274.npy",
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0098",
      "frame_indices": [
        293,
        296,
        299,
        302,
        305,
        308,
        311,
        314,
        317,
        320,
        323,
        326,
        329,
        332,
        335,
        338,
        341
      ],
      "contact_paths": [
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy",
        "modalities/contact/000311.npy",
        "modalities/contact/000314.npy",
        "modalities/contact/000317.npy",
        "modalities/contact/000320.npy",
        "modalities/contact/000323.npy",
        "modalities/contact/000326.npy",
        "modalities/contact/000329.npy",
        "modalities/contact/000332.npy",
        "modalities/contact/000335.npy",
        "modalities/contact/000338.npy",
        "modalities/contact/000341.npy"
      ],
      "force_paths": [
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy",
        "modalities/force/000311.npy",
        "modalities/force/000314.npy",
        "modalities/force/000317.npy",
        "modalities/force/000320.npy",
        "modalities/force/000323.npy",
        "modalities/force/000326.npy",
        "modalities/force/000329.npy",
        "modalities/force/000332.npy",
        "modalities/force/000335.npy",
        "modalities/force/000338.npy",
        "modalities/force/000341.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        34,
        37,
        40,
        43,
        46,
        49,
        52,
        55,
        58,
        61,
        64,
        67,
        70,
        73,
        76,
        79,
        82
      ],
      "contact_paths": [
        "modalities/contact/000034.npy",
        "modalities/contact/000037.npy",
        "modalities/contact/000040.npy",
        "modalities/contact/000043.npy",
        "modalities/contact/000046.npy",
        "modalities/contact/000049.npy",
        "modalities/contact/000052.npy",
        "modalities/contact/000055.npy",
        "modalities/contact/000058.npy",
        "modalities/contact/000061.npy",
        "modalities/contact/000064.npy",
        "modalities/contact/000067.npy",
        "modalities/contact/000070.npy",
        "modalities/contact/000073.npy",
        "modalities/contact/000076.npy",
        "modalities/contact/000079.npy",
        "modalities/contact/000082.npy"
      ],
      "force_paths": [
        "modalities/force/000034.npy",
        "modalities/force/000037.npy",
        "modalities/force/000040.npy",
        "modalities/force/000043.npy",
        "modalities/force/000046.npy",
        "modalities/force/000049.npy",
        "modalities/force/000052.npy",
        "modalities/force/000055.npy",
        "modalities/force/000058.npy",
        "modalities/force/000061.npy",
        "modalities/force/000064.npy",
        "modalities/force/000067.npy",
        "modalities/force/000070.npy",
        "modalities/force/000073.npy",
        "modalities/force/000076.npy",
        "modalities/force/000079.npy",
        "modalities/force/000082.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        51,
        54,
        57,
        60,
        63,
        66,
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99
      ],
      "contact_paths": [
        "modalities/contact/000051.npy",
        "modalities/contact/000054.npy",
        "modalities/contact/000057.npy",
        "modalities/contact/000060.npy",
        "modalities/contact/000063.npy",
        "modalities/contact/000066.npy",
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy"
      ],
      "force_paths": [
        "modalities/force/000051.npy",
        "modalities/force/000054.npy",
        "modalities/force/000057.npy",
        "modalities/force/000060.npy",
        "modalities/force/000063.npy",
        "modalities/force/000066.npy",
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        69,
        72,
        75,
        78,
        81,
        84,
        87,
        90,
        93,
        96,
        99,
        102,
        105,
        108,
        111,
        114,
        117
      ],
      "contact_paths": [
        "modalities/contact/000069.npy",
        "modalities/contact/000072.npy",
        "modalities/contact/000075.npy",
        "modalities/contact/000078.npy",
        "modalities/contact/000081.npy",
        "modalities/contact/000084.npy",
        "modalities/contact/000087.npy",
        "modalities/contact/000090.npy",
        "modalities/contact/000093.npy",
        "modalities/contact/000096.npy",
        "modalities/contact/000099.npy",
        "modalities/contact/000102.npy",
        "modalities/contact/000105.npy",
        "modalities/contact/000108.npy",
        "modalities/contact/000111.npy",
        "modalities/contact/000114.npy",
        "modalities/contact/000117.npy"
      ],
      "force_paths": [
        "modalities/force/000069.npy",
        "modalities/force/000072.npy",
        "modalities/force/000075.npy",
        "modalities/force/000078.npy",
        "modalities/force/000081.npy",
        "modalities/force/000084.npy",
        "modalities/force/000087.npy",
        "modalities/force/000090.npy",
        "modalities/force/000093.npy",
        "modalities/force/000096.npy",
        "modalities/force/000099.npy",
        "modalities/force/000102.npy",
        "modalities/force/000105.npy",
        "modalities/force/000108.npy",
        "modalities/force/000111.npy",
        "modalities/force/000114.npy",
        "modalities/force/000117.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        86,
        89,
        92,
        95,
        98,
        101,
        104,
        107,
        110,
        113,
        116,
        119,
        122,
        125,
        128,
        131,
        134
      ],
      "contact_paths": [
        "modalities/contact/000086.npy",
        "modalities/contact/000089.npy",
        "modalities/contact/000092.npy",
        "modalities/contact/000095.npy",
        "modalities/contact/000098.npy",
        "modalities/contact/000101.npy",
        "modalities/contact/000104.npy",
        "modalities/contact/000107.npy",
        "modalities/contact/000110.npy",
        "modalities/contact/000113.npy",
        "modalities/contact/000116.npy",
        "modalities/contact/000119.npy",
        "modalities/contact/000122.npy",
        "modalities/contact/000125.npy",
        "modalities/contact/000128.npy",
        "modalities/contact/000131.npy",
        "modalities/contact/000134.npy"
      ],
      "force_paths": [
        "modalities/force/000086.npy",
        "modalities/force/000089.npy",
        "modalities/force/000092.npy",
        "modalities/force/000095.npy",
        "modalities/force/000098.npy",
        "modalities/force/000101.npy",
        "modalities/force/000104.npy",
        "modalities/force/000107.npy",
        "modalities/force/000110.npy",
        "modalities/force/000113.npy",
        "modalities/force/000116.npy",
        "modalities/force/000119.npy",
        "modalities/force/000122.npy",
        "modalities/force/000125.npy",
        "modalities/force/000128.npy",
        "modalities/force/000131.npy",
        "modalities/force/000134.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        103,
        106,
        109,
        112,
        115,
        118,
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151
      ],
      "contact_paths": [
        "modalities/contact/000103.npy",
        "modalities/contact/000106.npy",
        "modalities/contact/000109.npy",
        "modalities/contact/000112.npy",
        "modalities/contact/000115.npy",
        "modalities/contact/000118.npy",
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy"
      ],
      "force_paths": [
        "modalities/force/000103.npy",
        "modalities/force/000106.npy",
        "modalities/force/000109.npy",
        "modalities/force/000112.npy",
        "modalities/force/000115.npy",
        "modalities/force/000118.npy",
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        121,
        124,
        127,
        130,
        133,
        136,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169
      ],
      "contact_paths": [
        "modalities/contact/000121.npy",
        "modalities/contact/000124.npy",
        "modalities/contact/000127.npy",
        "modalities/contact/000130.npy",
        "modalities/contact/000133.npy",
        "modalities/contact/000136.npy",
        "modalities/contact/000139.npy",
        "modalities/contact/000142.npy",
        "modalities/contact/000145.npy",
        "modalities/contact/000148.npy",
        "modalities/contact/000151.npy",
        "modalities/contact/000154.npy",
        "modalities/contact/000157.npy",
        "modalities/contact/000160.npy",
        "modalities/contact/000163.npy",
        "modalities/contact/000166.npy",
        "modalities/contact/000169.npy"
      ],
      "force_paths": [
        "modalities/force/000121.npy",
        "modalities/force/000124.npy",
        "modalities/force/000127.npy",
        "modalities/force/000130.npy",
        "modalities/force/000133.npy",
        "modalities/force/000136.npy",
        "modalities/force/000139.npy",
        "modalities/force/000142.npy",
        "modalities/force/000145.npy",
        "modalities/force/000148.npy",
        "modalities/force/000151.npy",
        "modalities/force/000154.npy",
        "modalities/force/000157.npy",
        "modalities/force/000160.npy",
        "modalities/force/000163.npy",
        "modalities/force/000166.npy",
        "modalities/force/000169.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        138,
        141,
        144,
        147,
        150,
        153,
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186
      ],
      "contact_paths": [
        "modalities/contact/000138.npy",
        "modalities/contact/000141.npy",
        "modalities/contact/000144.npy",
        "modalities/contact/000147.npy",
        "modalities/contact/000150.npy",
        "modalities/contact/000153.npy",
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy"
      ],
      "force_paths": [
        "modalities/force/000138.npy",
        "modalities/force/000141.npy",
        "modalities/force/000144.npy",
        "modalities/force/000147.npy",
        "modalities/force/000150.npy",
        "modalities/force/000153.npy",
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        156,
        159,
        162,
        165,
        168,
        171,
        174,
        177,
        180,
        183,
        186,
        189,
        192,
        195,
        198,
        201,
        204
      ],
      "contact_paths": [
        "modalities/contact/000156.npy",
        "modalities/contact/000159.npy",
        "modalities/contact/000162.npy",
        "modalities/contact/000165.npy",
        "modalities/contact/000168.npy",
        "modalities/contact/000171.npy",
        "modalities/contact/000174.npy",
        "modalities/contact/000177.npy",
        "modalities/contact/000180.npy",
        "modalities/contact/000183.npy",
        "modalities/contact/000186.npy",
        "modalities/contact/000189.npy",
        "modalities/contact/000192.npy",
        "modalities/contact/000195.npy",
        "modalities/contact/000198.npy",
        "modalities/contact/000201.npy",
        "modalities/contact/000204.npy"
      ],
      "force_paths": [
        "modalities/force/000156.npy",
        "modalities/force/000159.npy",
        "modalities/force/000162.npy",
        "modalities/force/000165.npy",
        "modalities/force/000168.npy",
        "modalities/force/000171.npy",
        "modalities/force/000174.npy",
        "modalities/force/000177.npy",
        "modalities/force/000180.npy",
        "modalities/force/000183.npy",
        "modalities/force/000186.npy",
        "modalities/force/000189.npy",
        "modalities/force/000192.npy",
        "modalities/force/000195.npy",
        "modalities/force/000198.npy",
        "modalities/force/000201.npy",
        "modalities/force/000204.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        173,
        176,
        179,
        182,
        185,
        188,
        191,
        194,
        197,
        200,
        203,
        206,
        209,
        212,
        215,
        218,
        221
      ],
      "contact_paths": [
        "modalities/contact/000173.npy",
        "modalities/contact/000176.npy",
        "modalities/contact/000179.npy",
        "modalities/contact/000182.npy",
        "modalities/contact/000185.npy",
        "modalities/contact/000188.npy",
        "modalities/contact/000191.npy",
        "modalities/contact/000194.npy",
        "modalities/contact/000197.npy",
        "modalities/contact/000200.npy",
        "modalities/contact/000203.npy",
        "modalities/contact/000206.npy",
        "modalities/contact/000209.npy",
        "modalities/contact/000212.npy",
        "modalities/contact/000215.npy",
        "modalities/contact/000218.npy",
        "modalities/contact/000221.npy"
      ],
      "force_paths": [
        "modalities/force/000173.npy",
        "modalities/force/000176.npy",
        "modalities/force/000179.npy",
        "modalities/force/000182.npy",
        "modalities/force/000185.npy",
        "modalities/force/000188.npy",
        "modalities/force/000191.npy",
        "modalities/force/000194.npy",
        "modalities/force/000197.npy",
        "modalities/force/000200.npy",
        "modalities/force/000203.npy",
        "modalities/force/000206.npy",
        "modalities/force/000209.npy",
        "modalities/force/000212.npy",
        "modalities/force/000215.npy",
        "modalities/force/000218.npy",
        "modalities/force/000221.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238
      ],
      "contact_paths": [
        "modalities/contact/000190.npy",
        "modalities/contact/000193.npy",
        "modalities/contact/000196.npy",
        "modalities/contact/000199.npy",
        "modalities/contact/000202.npy",
        "modalities/contact/000205.npy",
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy"
      ],
      "force_paths": [
        "modalities/force/000190.npy",
        "modalities/force/000193.npy",
        "modalities/force/000196.npy",
        "modalities/force/000199.npy",
        "modalities/force/000202.npy",
        "modalities/force/000205.npy",
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256
      ],
      "contact_paths": [
        "modalities/contact/000208.npy",
        "modalities/contact/000211.npy",
        "modalities/contact/000214.npy",
        "modalities/contact/000217.npy",
        "modalities/contact/000220.npy",
        "modalities/contact/000223.npy",
        "modalities/contact/000226.npy",
        "modalities/contact/000229.npy",
        "modalities/contact/000232.npy",
        "modalities/contact/000235.npy",
        "modalities/contact/000238.npy",
        "modalities/contact/000241.npy",
        "modalities/contact/000244.npy",
        "modalities/contact/000247.npy",
        "modalities/contact/000250.npy",
        "modalities/contact/000253.npy",
        "modalities/contact/000256.npy"
      ],
      "force_paths": [
        "modalities/force/000208.npy",
        "modalities/force/000211.npy",
        "modalities/force/000214.npy",
        "modalities/force/000217.npy",
        "modalities/force/000220.npy",
        "modalities/force/000223.npy",
        "modalities/force/000226.npy",
        "modalities/force/000229.npy",
        "modalities/force/000232.npy",
        "modalities/force/000235.npy",
        "modalities/force/000238.npy",
        "modalities/force/000241.npy",
        "modalities/force/000244.npy",
        "modalities/force/000247.npy",
        "modalities/force/000250.npy",
        "modalities/force/000253.npy",
        "modalities/force/000256.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        225,
        228,
        231,
        234,
        237,
        240,
        243,
        246,
        249,
        252,
        255,
        258,
        261,
        264,
        267,
        270,
        273
      ],
      "contact_paths": [
        "modalities/contact/000225.npy",
        "modalities/contact/000228.npy",
        "modalities/contact/000231.npy",
        "modalities/contact/000234.npy",
        "modalities/contact/000237.npy",
        "modalities/contact/000240.npy",
        "modalities/contact/000243.npy",
        "modalities/contact/000246.npy",
        "modalities/contact/000249.npy",
        "modalities/contact/000252.npy",
        "modalities/contact/000255.npy",
        "modalities/contact/000258.npy",
        "modalities/contact/000261.npy",
        "modalities/contact/000264.npy",
        "modalities/contact/000267.npy",
        "modalities/contact/000270.npy",
        "modalities/contact/000273.npy"
      ],
      "force_paths": [
        "modalities/force/000225.npy",
        "modalities/force/000228.npy",
        "modalities/force/000231.npy",
        "modalities/force/000234.npy",
        "modalities/force/000237.npy",
        "modalities/force/000240.npy",
        "modalities/force/000243.npy",
        "modalities/force/000246.npy",
        "modalities/force/000249.npy",
        "modalities/force/000252.npy",
        "modalities/force/000255.npy",
        "modalities/force/000258.npy",
        "modalities/force/000261.npy",
        "modalities/force/000264.npy",
        "modalities/force/000267.npy",
        "modalities/force/000270.npy",
        "modalities/force/000273.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        242,
        245,
        248,
        251,
        254,
        257,
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290
      ],
      "contact_paths": [
        "modalities/contact/000242.npy",
        "modalities/contact/000245.npy",
        "modalities/contact/000248.npy",
        "modalities/contact/000251.npy",
        "modalities/contact/000254.npy",
        "modalities/contact/000257.npy",
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy"
      ],
      "force_paths": [
        "modalities/force/000242.npy",
        "modalities/force/000245.npy",
        "modalities/force/000248.npy",
        "modalities/force/000251.npy",
        "modalities/force/000254.npy",
        "modalities/force/000257.npy",
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        260,
        263,
        266,
        269,
        272,
        275,
        278,
        281,
        284,
        287,
        290,
        293,
        296,
        299,
        302,
        305,
        308
      ],
      "contact_paths": [
        "modalities/contact/000260.npy",
        "modalities/contact/000263.npy",
        "modalities/contact/000266.npy",
        "modalities/contact/000269.npy",
        "modalities/contact/000272.npy",
        "modalities/contact/000275.npy",
        "modalities/contact/000278.npy",
        "modalities/contact/000281.npy",
        "modalities/contact/000284.npy",
        "modalities/contact/000287.npy",
        "modalities/contact/000290.npy",
        "modalities/contact/000293.npy",
        "modalities/contact/000296.npy",
        "modalities/contact/000299.npy",
        "modalities/contact/000302.npy",
        "modalities/contact/000305.npy",
        "modalities/contact/000308.npy"
      ],
      "force_paths": [
        "modalities/force/000260.npy",
        "modalities/force/000263.npy",
        "modalities/force/000266.npy",
        "modalities/force/000269.npy",
        "modalities/force/000272.npy",
        "modalities/force/000275.npy",
        "modalities/force/000278.npy",
        "modalities/force/000281.npy",
        "modalities/force/000284.npy",
        "modalities/force/000287.npy",
        "modalities/force/000290.npy",
        "modalities/force/000293.npy",
        "modalities/force/000296.npy",
        "modalities/force/000299.npy",
        "modalities/force/000302.npy",
        "modalities/force/000305.npy",
        "modalities/force/000308.npy"
      ]
    },
    {
      "episode": "yellow_lace/grasping_gello_lift_the_yellow_lace-trimmed_basket_to_the_right_100/0099",
      "frame_indices": [
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325
      ],
      "contact_paths": [
        "modalities/contact/000277.npy",
        "modalities/contact/000280.npy",
        "modalities/contact/000283.npy",
        "modalities/contact/000286.npy",
        "modalities/contact/000289.npy",
        "modalities/contact/000292.npy",
        "modalities/contact/000295.npy",
        "modalities/contact/000298.npy",
        "modalities/contact/000301.npy",
        "modalities/contact/000304.npy",
        "modalities/contact/000307.npy",
        "modalities/contact/000310.npy",
        "modalities/contact/000313.npy",
        "modalities/contact/000316.npy",
        "modalities/contact/000319.npy",
        "modalities/contact/000322.npy",
        "modalities/contact/000325.npy"
      ],
      "force_paths": [
        "modalities/force/000277.npy",
        "modalities/force/000280.npy",
        "modalities/force/000283.npy",
        "modalities/force/000286.npy",
        "modalities/force/000289.npy",
        "modalities/force/000292.npy",
        "modalities/force/000295.npy",
        "modalities/force/000298.npy",
        "modalities/force/000301.npy",
        "modalities/force/000304.npy",
        "modalities/force/000307.npy",
        "modalities/force/000310.npy",
        "modalities/force/000313.npy",
        "modalities/force/000316.npy",
        "modalities/force/000319.npy",
        "modalities/force/000322.npy",
        "modalities/force/000325.npy"
      ]
    }
  ]
}