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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-5/README.md b/Table-scale/Tactile/ACE-Data-Tactile-5/README.md
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+# ACE-Data LeRobot v3
+
+Each source video is copied unchanged into its own video file; episode boundaries are recorded in `meta/episodes`. Raw sensor records and sidecars are stored per episode under `raw/`.
+
+The rows in `data/` are canonical reference samples on a fixed-rate timeline. They are not physically synchronized frames shared by every sensor; `frame_index` is retained as the LeRobot-compatible field name for an episode-local reference-sample index. The main data parquet stores scalar indices and half-open raw-row ranges, while actual video bytes remain in `videos/`.
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+{
+  "codebase_version": "v3.0",
+  "robot_type": "ace_human_multimodal",
+  "total_episodes": 4,
+  "total_frames": 34260,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 1024,
+  "fps": 30,
+  "reference_rate_hz": 30,
+  "index_semantics": {
+    "description": "Rows in data/*.parquet are canonical reference samples on a fixed-rate timeline, not physically synchronized frames shared by every sensor.",
+    "frame_index": "LeRobot-compatible name for the episode-local canonical reference-sample index.",
+    "index": "Global canonical reference-sample index across all episodes.",
+    "timestamp": "Episode-local timestamp in seconds used to associate asynchronous video and sensor streams."
+  },
+  "splits": {
+    "train": "0:4"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/episode-{episode_index:06d}.mp4",
+  "features": {
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+      "shape": [
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-5/raw/calibration/take-000002.json b/Table-scale/Tactile/ACE-Data-Tactile-5/raw/calibration/take-000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-5/raw/calibration/take-000002.json
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\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-5/raw/calibration/take-000003.json b/Table-scale/Tactile/ACE-Data-Tactile-5/raw/calibration/take-000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-5/raw/calibration/take-000003.json
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\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-5/raw/camera_array_aniposelib/take-000000.toml b/Table-scale/Tactile/ACE-Data-Tactile-5/raw/camera_array_aniposelib/take-000000.toml
new file mode 100644
index 0000000000000000000000000000000000000000..8b2498fe7c0279ec6f660b70dc17492d042f46c5
--- /dev/null
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-5/raw/camera_array_aniposelib/take-000001.toml b/Table-scale/Tactile/ACE-Data-Tactile-5/raw/camera_array_aniposelib/take-000001.toml
new file mode 100644
index 0000000000000000000000000000000000000000..8b2498fe7c0279ec6f660b70dc17492d042f46c5
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-5/raw/camera_array_aniposelib/take-000001.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/README.md b/Table-scale/Tactile/ACE-Data-Tactile-6/README.md
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+# ACE-Data LeRobot v3
+
+Each source video is copied unchanged into its own video file; episode boundaries are recorded in `meta/episodes`. Raw sensor records and sidecars are stored per episode under `raw/`.
+
+The rows in `data/` are canonical reference samples on a fixed-rate timeline. They are not physically synchronized frames shared by every sensor; `frame_index` is retained as the LeRobot-compatible field name for an episode-local reference-sample index. The main data parquet stores scalar indices and half-open raw-row ranges, while actual video bytes remain in `videos/`.
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+{
+  "codebase_version": "v3.0",
+  "robot_type": "ace_human_multimodal",
+  "total_episodes": 10,
+  "total_frames": 66930,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 1024,
+  "fps": 30,
+  "reference_rate_hz": 30,
+  "index_semantics": {
+    "description": "Rows in data/*.parquet are canonical reference samples on a fixed-rate timeline, not physically synchronized frames shared by every sensor.",
+    "frame_index": "LeRobot-compatible name for the episode-local canonical reference-sample index.",
+    "index": "Global canonical reference-sample index across all episodes.",
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000003.json b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000003.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000004.json b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000004.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000005.json b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000005.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000006.json b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000006.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000007.json b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000007.json
@@ -0,0 +1,148 @@
+{
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000008.json b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000008.json
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\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000009.json b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/calibration/take-000009.json
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\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/camera_array_aniposelib/take-000000.toml b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/camera_array_aniposelib/take-000000.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ad3d08a901f587dbaac203478a4a6930c6f050b6
--- /dev/null
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/camera_array_aniposelib/take-000001.toml b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/camera_array_aniposelib/take-000001.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ad3d08a901f587dbaac203478a4a6930c6f050b6
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/camera_array_aniposelib/take-000001.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/camera_array_aniposelib/take-000004.toml b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/camera_array_aniposelib/take-000004.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/camera_array_aniposelib/take-000007.toml b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/camera_array_aniposelib/take-000007.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-6/raw/camera_array_aniposelib/take-000008.toml b/Table-scale/Tactile/ACE-Data-Tactile-6/raw/camera_array_aniposelib/take-000008.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/README.md b/Table-scale/Tactile/ACE-Data-Tactile-7/README.md
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+# ACE-Data LeRobot v3
+
+Each source video is copied unchanged into its own video file; episode boundaries are recorded in `meta/episodes`. Raw sensor records and sidecars are stored per episode under `raw/`.
+
+The rows in `data/` are canonical reference samples on a fixed-rate timeline. They are not physically synchronized frames shared by every sensor; `frame_index` is retained as the LeRobot-compatible field name for an episode-local reference-sample index. The main data parquet stores scalar indices and half-open raw-row ranges, while actual video bytes remain in `videos/`.
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+{
+  "codebase_version": "v3.0",
+  "robot_type": "ace_human_multimodal",
+  "total_episodes": 32,
+  "total_frames": 224490,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 1024,
+  "fps": 30,
+  "reference_rate_hz": 30,
+  "index_semantics": {
+    "description": "Rows in data/*.parquet are canonical reference samples on a fixed-rate timeline, not physically synchronized frames shared by every sensor.",
+    "frame_index": "LeRobot-compatible name for the episode-local canonical reference-sample index.",
+    "index": "Global canonical reference-sample index across all episodes.",
+    "timestamp": "Episode-local timestamp in seconds used to associate asynchronous video and sensor streams."
+  },
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000003.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000003.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000004.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000004.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000005.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000005.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000006.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000006.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000007.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000007.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000008.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000008.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000009.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000009.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000010.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000010.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000011.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000011.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000012.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000012.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000013.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000013.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000014.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000014.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000015.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000015.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000016.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000016.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000017.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000017.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000018.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000018.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000019.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000019.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000020.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000020.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000021.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000021.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000022.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000022.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000023.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000023.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000024.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000024.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000025.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000025.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000026.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000026.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000027.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000027.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000028.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000028.json
@@ -0,0 +1,148 @@
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000029.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000029.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000030.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000030.json
@@ -0,0 +1,148 @@
+{
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+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000031.json b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f817a201af3707d39afa1a1bba308945abb26
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/calibration/take-000031.json
@@ -0,0 +1,148 @@
+{
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+    }
+}
\ No newline at end of file
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000000.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000000.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ad3d08a901f587dbaac203478a4a6930c6f050b6
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000000.toml
@@ -0,0 +1,91 @@
+[C3531325581776]
+name = "C3531325581776"
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+[C3531325660954]
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+original_filename = "C3531325660954.MP4"
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000003.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000003.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000006.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000006.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000009.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000009.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000010.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000010.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000013.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000013.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000020.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000020.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000022.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000022.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000023.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000023.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000026.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000026.toml
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000030.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000030.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ad3d08a901f587dbaac203478a4a6930c6f050b6
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000030.toml
@@ -0,0 +1,91 @@
+[C3531325581776]
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+[metadata]
+adjusted = false
+error = 0.0
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000031.toml b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000031.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ad3d08a901f587dbaac203478a4a6930c6f050b6
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/camera_array_aniposelib/take-000031.toml
@@ -0,0 +1,91 @@
+[C3531325581776]
+name = "C3531325581776"
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+[C3531325660954]
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diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000000.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9cec868d53f8d7f247a43c5ded0b43661f527bca
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000000.txt
@@ -0,0 +1,15 @@
+Task:
+Assemble a blue plastic file organizer.
+
+Subtasks:
+1. [0.000-26.000] separate the connected blue plastic parts and place the blue plastic parts on the table
+2. [26.000-36.000] pick up the first side panel and attach the first side panel to the back panel
+3. [36.000-46.000] pick up the second side panel and attach the second side panel to the back panel
+4. [46.000-58.000] pick up the third side panel and attach the third side panel to the back panel
+5. [58.000-74.000] pick up the fourth side panel and attach the fourth side panel to the back panel
+6. [74.000-97.000] pick up the front connecting strip and attach the front connecting strip to the side panels
+7. [97.000-117.000] press the front connecting strip onto the side panels until the front connecting strip is secured
+8. [117.000-128.000] pick up the first front panel and attach the first front panel to the side panels
+9. [128.000-138.000] pick up the second front panel and attach the second front panel to the side panels
+10. [138.000-149.000] pick up the third front panel and attach the third front panel to the side panels
+11. [149.000-159.000] place the assembled file organizer upright on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000001.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000001.txt
new file mode 100644
index 0000000000000000000000000000000000000000..398287a4d48698b8db83d86a7a2bf0e2de7be916
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000001.txt
@@ -0,0 +1,10 @@
+Task:
+Assemble a blue plastic file organizer.
+
+Subtasks:
+1. [0.000-41.000] unfold the blue file organizer base
+2. [41.000-46.000] pick up the back panel of the file organizer
+3. [46.000-73.000] attach the back panel to the blue file organizer base
+4. [73.000-158.000] press the back panel into the blue file organizer base until the back panel is fully secured
+5. [158.000-169.000] pick up the front panel and align the front panel with the blue file organizer base
+6. [169.000-181.000] attach the front panel to the blue file organizer base until the front panel is fully secured
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000002.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000002.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9ee998bcd6500c7f9ba2949833c9c64d2412d7d8
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000002.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000002.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000003.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000003.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e5b7db9d19d46968427384f76a377825d3e0e0f3
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000003.txt
@@ -0,0 +1,14 @@
+Task:
+Assemble a blue plastic file organizer from its component parts.
+
+Subtasks:
+1. [0.000-26.000] attach the left side panel to the back panel
+2. [26.000-43.000] attach the right side panel to the back panel
+3. [43.000-54.000] insert the first divider panel into the side panels
+4. [54.000-65.000] insert the second divider panel into the side panels
+5. [65.000-74.000] insert the third divider panel into the side panels
+6. [74.000-91.000] stand the partially assembled file organizer upright on the table
+7. [91.000-120.000] attach the front panel to the side panels
+8. [120.000-149.000] press the divider panels into the back panel
+9. [149.000-180.000] press the side panel onto the divider panels
+10. [180.000-198.000] place the assembled file organizer upright on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000004.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000004.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c57bbebf7f001df420503aefbc80087b4da11105
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000004.txt
@@ -0,0 +1,10 @@
+Task:
+Assemble a blue plastic file rack on a table.
+
+Subtasks:
+1. [0.000-74.000] connect the inner panels of the file rack together
+2. [74.000-101.000] attach the base onto the connected inner panels
+3. [101.000-146.000] attach the side panel to the base
+4. [146.000-186.000] push the side panel onto the base until it is securely assembled
+5. [186.000-260.000] press the side panel onto the inner panels until the side panel is fully attached
+6. [260.000-274.000] place the assembled file rack onto the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000005.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000005.txt
new file mode 100644
index 0000000000000000000000000000000000000000..23527288caa2aad6e79a8acce637d77405ca26c9
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000005.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000005.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000006.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000006.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e427bf931f181134176a876408bb24f642649eea
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000006.txt
@@ -0,0 +1,18 @@
+Task:
+Iron and fold a white t-shirt and a grey polo shirt on an ironing board.
+
+Subtasks:
+1. [0.000-15.000] spread the white t-shirt on the ironing board until the white t-shirt is flat
+2. [15.000-40.000] iron the white t-shirt using the iron until the white t-shirt is smooth
+3. [40.000-46.000] spread the white t-shirt on the ironing board until the white t-shirt is flat
+4. [46.000-74.000] iron the white t-shirt using the iron until the white t-shirt is smooth
+5. [74.000-81.000] spread the white t-shirt on the ironing board until the white t-shirt is flat
+6. [81.000-111.000] iron the white t-shirt using the iron until the white t-shirt is smooth
+7. [111.000-141.000] fold the white t-shirt on the ironing board until the white t-shirt is completely folded
+8. [141.000-157.000] spread the grey polo shirt on the ironing board until the grey polo shirt is flat
+9. [157.000-198.000] iron the grey polo shirt using the iron until the grey polo shirt is smooth
+10. [198.000-210.000] spread the grey polo shirt on the ironing board until the grey polo shirt is flat
+11. [210.000-248.000] iron the grey polo shirt using the iron until the grey polo shirt is smooth
+12. [248.000-260.000] spread the grey polo shirt on the ironing board until the grey polo shirt is flat
+13. [260.000-284.000] iron the grey polo shirt using the iron until the grey polo shirt is smooth
+14. [284.000-314.000] fold the grey polo shirt on the ironing board until the grey polo shirt is completely folded
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000007.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000007.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f71f6b92e5de56bbbabda904618847ae8c62436
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000007.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000007.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000008.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000008.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a0ab79ce0fe44b395b535d3dbf66e128458d535
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000008.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000008.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000009.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000009.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba8752d73c4df5c4469746d4daf82d0c551906a1
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000009.txt
@@ -0,0 +1,15 @@
+Task:
+Iron and fold two shirts on an ironing board.
+
+Subtasks:
+1. [0.000-13.000] spread the grey shirt on the ironing board until it is flat
+2. [13.000-52.000] iron the top half of the grey shirt using the iron
+3. [52.000-83.000] iron the bottom half of the grey shirt using the iron
+4. [83.000-91.000] flip the grey shirt over on the ironing board
+5. [91.000-118.000] iron the back of the grey shirt using the iron
+6. [118.000-153.000] fold the grey shirt on the ironing board until it is fully folded
+7. [153.000-171.000] spread the white t-shirt on the ironing board until it is flat
+8. [171.000-235.000] iron the top half of the white t-shirt using the iron
+9. [235.000-242.000] move the folded grey shirt to the side of the ironing board
+10. [242.000-314.000] iron the bottom half of the white t-shirt using the iron
+11. [314.000-342.000] fold the white t-shirt on the ironing board until it is fully folded
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000010.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000010.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc15902f28ea81b10b6a570e2f0b7d58695937d4
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000010.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000010.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000011.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000011.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11db530d85a9c6edfec4ca6b4dba6607ec357aec
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000011.txt
@@ -0,0 +1,12 @@
+Task:
+Iron and fold a blue shirt and a white shirt.
+
+Subtasks:
+1. [0.000-11.000] spread out the blue shirt on the table
+2. [11.000-36.000] iron the blue shirt using the iron
+3. [36.000-47.000] flip the blue shirt and spread it out on the table
+4. [47.000-94.000] iron the other side of the blue shirt using the iron
+5. [94.000-131.000] fold the blue shirt using the folding board
+6. [131.000-148.000] spread out the white shirt on the table
+7. [148.000-271.000] iron the white shirt using the iron
+8. [271.000-299.000] fold the white shirt using the folding board
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000012.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000012.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7414d0fd9a80c0a98dcbf8116e82b54fa83ce8d
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000012.txt
@@ -0,0 +1,16 @@
+Task:
+Iron and fold a grey shirt and a white shirt on an ironing pad.
+
+Subtasks:
+1. [0.000-11.000] unfold the grey shirt from the table onto the ironing pad
+2. [11.000-39.000] iron the top half of the grey shirt using the iron
+3. [39.000-43.000] pull the grey shirt down on the ironing pad
+4. [43.000-73.000] iron the bottom half of the grey shirt using the iron
+5. [73.000-79.000] flip the grey shirt over on the ironing pad
+6. [79.000-102.000] iron the back of the grey shirt using the iron
+7. [102.000-124.000] fold the grey shirt on the ironing pad and move the grey shirt to the table
+8. [124.000-138.000] unfold the white shirt from the table onto the ironing pad
+9. [138.000-186.000] iron the top half of the white shirt using the iron
+10. [186.000-188.000] pull the white shirt down on the ironing pad
+11. [188.000-202.000] iron the bottom half of the white shirt using the iron
+12. [202.000-224.000] fold the white shirt on the ironing pad and move the white shirt to the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000013.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000013.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6fab75eff40bc246674914d2bbd02f29b21ec116
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000013.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000013.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000014.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000014.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2bbef718c877ee33e8fa1e83c3f8e8a1d666550
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000014.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000014.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000015.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000015.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd15ae48d41f0a27daf43af5e2db92f55d90e881
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000015.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000015.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000016.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000016.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5354b168ef0b408863e0ec96ce9d67feb67da590
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000016.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000016.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000017.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000017.txt
new file mode 100644
index 0000000000000000000000000000000000000000..41cb5d8f8dc1760662b1abf8ff8dd6cef051eb5c
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000017.txt
@@ -0,0 +1,12 @@
+Task:
+Unpack two white boxes from a cardboard box and cover the white boxes with bubble wrap.
+
+Subtasks:
+1. [0.000-11.200] stand idle in front of the table
+2. [11.200-17.500] pick up the cardboard with markers from the table and throw the cardboard into the trash can
+3. [17.500-20.300] move the cardboard box towards the center of the table
+4. [20.300-26.500] remove the bubble wrap and white boxes from the cardboard box and place the bubble wrap and white boxes onto the table
+5. [26.500-50.300] walk around the room
+6. [50.300-53.000] move the empty cardboard box to the left edge of the table
+7. [53.000-61.200] arrange the two white boxes side-by-side onto the table
+8. [61.200-67.037] place the bubble wrap over the two white boxes until the white boxes are completely covered
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000018.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000018.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fe157f338956c4cde02f747798ce9b615650cbcd
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000018.txt
@@ -0,0 +1,13 @@
+Task:
+Seal a cardboard box with tape and then remove the tape.
+
+Subtasks:
+1. [0.000-11.000] apply tape from the tape roll onto the top of the box
+2. [11.000-16.000] cut the tape using the scissors
+3. [16.000-21.000] press the tape onto the box
+4. [21.000-36.000] apply tape from the tape roll onto the side of the box
+5. [36.000-43.000] cut the tape using the scissors
+6. [43.000-50.000] press the tape onto the side of the box
+7. [50.000-64.000] rotate the box on the table
+8. [64.000-74.000] peel the tape off the box
+9. [74.000-82.017] throw the tape into the trash can
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000019.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000019.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c8cb15cfeb16364fb1c0aa7b9a734bb136537de1
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000019.txt
@@ -0,0 +1,11 @@
+Task:
+Pack a wrapped item into a cardboard box and seal it with tape.
+
+Subtasks:
+1. [0.000-9.800] pick up a white wrapped item and place it into the open cardboard box
+2. [9.800-17.600] fold the flaps of the cardboard box until the box is closed
+3. [17.600-20.000] pick up the roll of tape from the table
+4. [20.000-27.100] peel the end of the tape from the roll
+5. [27.100-46.700] apply the tape onto the top seam of the cardboard box
+6. [46.700-54.800] press the tape down onto the cardboard box
+7. [54.800-65.035] cut the tape using the scissors
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000020.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000020.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d6c2b558c4dd4a3654511efb5362d05a5fc10593
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000020.txt
@@ -0,0 +1,16 @@
+Task:
+Pack two boxes into a larger box.
+
+Subtasks:
+1. [0.000-13.900] cut open the box using scissors
+2. [13.900-18.200] put down the scissors
+3. [18.200-24.300] take out the bubble wrap from the box
+4. [24.300-27.500] take out two boxes from the bubble wrap
+5. [27.500-34.300] place the two boxes on the table
+6. [34.300-39.100] pick up the two boxes
+7. [39.100-46.300] place the two boxes on the bubble wrap
+8. [46.300-54.600] wrap the two boxes with the bubble wrap
+9. [54.600-63.400] place the wrapped boxes into the box
+10. [63.400-66.100] close the box
+11. [66.100-72.400] tape the box using tape
+12. [72.400-78.977] cut the tape using scissors
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000021.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000021.txt
new file mode 100644
index 0000000000000000000000000000000000000000..912a022f5687cfbcd512aadbd6589be67755a574
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000021.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000021.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000022.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000022.txt
new file mode 100644
index 0000000000000000000000000000000000000000..30e5a0c16df2b7789858c7781aaa9252d8279c0c
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000022.txt
@@ -0,0 +1,13 @@
+Task:
+Pack items into a cardboard box and seal it with tape.
+
+Subtasks:
+1. [0.000-6.100] place the wrapped items into the cardboard box
+2. [6.100-23.200] close the flaps of the cardboard box
+3. [23.200-33.100] grab the tape and pull out a piece of tape
+4. [33.100-54.800] tape the closed flaps of the cardboard box using the tape dispenser
+5. [54.800-59.500] grab the scissors
+6. [59.500-73.800] cut the tape using the scissors
+7. [73.800-75.100] place the scissors on the table
+8. [75.100-88.600] fold the cut tape onto the tape dispenser
+9. [88.600-95.069] press the tape firmly onto the cardboard box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000023.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000023.txt
new file mode 100644
index 0000000000000000000000000000000000000000..39b5bd54f0535e0ceff0cb1f229347a059aef959
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000023.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000023.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000024.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000024.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a080e05d0bd5405f434593650298d532e0cf657d
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000024.txt
@@ -0,0 +1,11 @@
+Task:
+Unpack a parcel.
+
+Subtasks:
+1. [0.000-10.400] cut the tape on the box with the knife
+2. [10.400-14.700] tear off the tape on the box
+3. [14.700-27.400] throw the tape into the garbage bag
+4. [27.400-30.800] take out the item from the box
+5. [30.800-38.300] take off the wrapper of the item
+6. [38.300-46.700] throw the wrapper into the garbage bag
+7. [46.700-59.993] take out the components and the paper box out of the box and put them on the table
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000025.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000025.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d7e9d4416db645ee713f3eae338c00b4bed16f5b
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000025.txt
@@ -0,0 +1,4 @@
+Task:
+episode-000025.mp4
+
+Subtasks:
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000026.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000026.txt
new file mode 100644
index 0000000000000000000000000000000000000000..366a6a315141512555d7b369c9c502aa9a8ef045
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000026.txt
@@ -0,0 +1,11 @@
+Task:
+Unpack the items from the cardboard box and then pack the items back into the cardboard box.
+
+Subtasks:
+1. [0.000-8.500] cut the tape on the cardboard box using the utility knife
+2. [8.500-23.200] take the wrapped items out of the cardboard box
+3. [23.200-38.600] take the white boxes out of the bubble wrap
+4. [38.600-50.500] put the white boxes onto the bubble wrap
+5. [50.500-57.100] wrap the white boxes with the bubble wrap
+6. [57.100-65.100] put the wrapped items into the cardboard box
+7. [65.100-69.040] close the cardboard box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000027.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000027.txt
new file mode 100644
index 0000000000000000000000000000000000000000..72376f9d47628e0cc1035c1ae07e56fef099fca1
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000027.txt
@@ -0,0 +1,11 @@
+Task:
+Tape the box.
+
+Subtasks:
+1. [0.000-11.200] pull the tape from the tape roll onto the box
+2. [11.200-14.500] pick up the scissors
+3. [14.500-25.100] cut the tape with the scissors
+4. [25.100-30.100] put down the scissors onto the table
+5. [30.100-43.100] stick the tape to the tape roll
+6. [43.100-54.000] press the tape onto the box
+7. [54.000-68.001] do nothing
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000028.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000028.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a3ebbcfe72402ad0a2a3525584232d6154d8e983
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000028.txt
@@ -0,0 +1,12 @@
+Task:
+Pack two white boxes into a cardboard box.
+
+Subtasks:
+1. [0.000-4.000] take out a plastic wrapper from the cardboard box and put it on the table
+2. [4.000-20.000] open the cardboard box by bending its top closures outwards
+3. [20.000-24.000] align the plastic wrapper with the two white boxes on the table
+4. [24.000-32.000] wrap the two white boxes with the plastic wrapper
+5. [32.000-40.000] put the wrapped boxes into the cardboard box
+6. [40.000-44.000] close the cardboard box
+7. [44.000-63.000] tape the cardboard box using a tape roll
+8. [63.000-74.008] cut the tape from the tape roll using scissors
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000029.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000029.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a863f4d339f6346817298a823e50aaa6e82eb3c6
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000029.txt
@@ -0,0 +1,11 @@
+Task:
+Unpack a cardboard box
+
+Subtasks:
+1. [0.000-4.100] move hands to the cardboard box
+2. [4.100-9.200] cut the tape on the cardboard box using the scissors
+3. [9.200-15.000] peel the cut tape off the cardboard box
+4. [15.000-27.200] fold the tape and throw the tape into the trash bin
+5. [27.200-34.100] open the flaps of the cardboard box
+6. [34.100-40.000] take the bubble wrap out from the cardboard box and place the bubble wrap on the table
+7. [40.000-46.941] take the white box out from the cardboard box
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000030.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000030.txt
new file mode 100644
index 0000000000000000000000000000000000000000..68ee353a1b8a61540d4852e81c857b5ab176d121
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000030.txt
@@ -0,0 +1,10 @@
+Task:
+Seal a cardboard box using tape.
+
+Subtasks:
+1. [0.000-13.500] take the tape and scissors out of the cardboard box
+2. [13.500-20.200] close the cardboard box
+3. [20.200-27.500] seal the cardboard box using the tape
+4. [27.500-34.000] cut the tape using the scissors
+5. [34.000-39.500] push the cardboard box away
+6. [39.500-51.984] fold the end of the tape
diff --git a/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000031.txt b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000031.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d810d2a7e7f3a3d3aff08b27b40c052e51882bd
--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/captions/take-000031.txt
@@ -0,0 +1,11 @@
+Task:
+Pack two white boxes into a cardboard box using bubble wrap and tape.
+
+Subtasks:
+1. [0.000-3.000] move the empty cardboard box on the table
+2. [3.000-10.000] place two white boxes on the bubble wrap
+3. [10.000-19.000] align the two white boxes on the bubble wrap
+4. [19.000-29.000] wrap the two white boxes with the bubble wrap
+5. [29.000-39.000] place the wrapped white boxes into the cardboard box
+6. [39.000-46.000] close the flaps of the cardboard box
+7. [46.000-51.020] seal the cardboard box using the tape
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--- /dev/null
+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/imu/take-000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:342d1e8f8be438f9e5e9119c00e4b33bddb08f869aa204e164294b5f5691d6b8
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+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/imu/take-000001.parquet
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+version https://git-lfs.github.com/spec/v1
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+++ b/Table-scale/Tactile/ACE-Data-Tactile-7/raw/imu/take-000002.parquet
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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